公开(公告)号：EP0049112B1

公开(公告)日：1987-03-04

申请号：EP81304400.5

申请日：1981-09-24

申请人： FANUC LTD.

发明人： Nozawa, Ryoichiro ,  Kiya, Nobuyuki

IPC分类号： G11C19/08

CPC分类号： G05B19/16 ,  G11C19/0875

公开(公告)号：EP0092377A3

公开(公告)日：1985-11-06

申请号：EP83302096

申请日：1983-04-14

申请人： FANUC LTD

发明人： Nozawa, Ryoichiro ,  Kawamura, Hideaki ,  Ohtsuki, Toshiaki

IPC分类号： G05B19/405

CPC分类号： G05B19/40936 ,  G05B2219/35262 ,  G05B2219/35263 ,  G05B2219/36572 ,  Y02P90/265

摘要： A numerical control system of the type wherein a workpiece is machined as commanded by executing processing specified by a custom macro. A custom macro composed of at least a custom macro identification and an instruction using variables is stored beforehand in a memory (106), a custom macro call instruction calling the custom macro, and the custom macro identification, are inserted beforehand in a numerical control machining program, the custom macro having the custom macro identification is read out of the memory (106), processing is executed based on the custom macro, identifiers (see 108) are attached to the variables (see 107) to name them, and both the identifiers and actual values assigned to the variables named by the identifiers are displayed on a display unit (110).

摘要翻译： 一种数控系统，其中通过执行由自定义宏指定的处理命令来加工工件。 由至少自定义宏识别和使用变量的指令构成的自定义宏预先存储在存储器（106）中，调用自定义宏的定制宏调用指令和自定义宏识别被预先插入数控加工 程序中，从存储器（106）中读出具有自定义宏识别的自定义宏，基于自定义宏执行处理，标识符（参见108）被附加到变量（参见107）来命名它们，并且两者 分配给由标识符命名的变量的标识符和实际值显示在显示单元（110）上。

公开(公告)号：EP0080377A3

公开(公告)日：1985-05-22

申请号：EP82306252

申请日：1982-11-24

申请人： FANUC LTD

发明人： Nozawa, Ryoichiro ,  Komiya, Hidetsugu ,  Kishi, Hajimu ,  Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

IPC分类号： G05B19/23 ,  B23Q35/123

CPC分类号： B23Q35/123 ,  G05B19/19 ,  G05B19/231 ,  G05B2219/41409 ,  G05B2219/42118 ,  G05B2219/42213

摘要： A method and apparatus for sensing the present position of a movable machine element in a position control system when a position control loop in the system is placed in the open state. In the position control system, error storage means (107b) computes and stores an error between a command value produced by a control unit (102), and an amount of movement sensed by a position sensor provided on a motor shaft or on the movable machine element, and a speed control circuit controls the motor in accordance with the error from the error storage means (1 07b). The method of sensing present position includes steps of reading and storing as a steady deviation the error from said error storage means (1 07b) immediately before the position control loop is switched from the closed to the open state, reading the error in the error storage means (1 07b) when the position control loop is in the open state, updating the content of a present position register (202) on the basis of an arithmetic difference obtained by subtracting the steady deviation from the read error, and revising the content of the error storage means (107b) by the arithmetic difference.

公开(公告)号：EP0102219A2

公开(公告)日：1984-03-07

申请号：EP83304753.3

申请日：1983-08-17

申请人： FANUC LTD.

发明人： Nozawa, Ryoichiro ,  Kawamura, Hideaki ,  Miyata, Mitsuto

IPC分类号： G05B19/407

CPC分类号： G05B19/41 ,  G05B2219/34149 ,  G05B2219/34156 ,  G05B2219/35386 ,  G05B2219/42285 ,  G05B2219/43009

摘要： An acceleration/deceleration device for a numerical controller is provided with interpolating means for periodically obtaining a minute displacement in each axis from a separately calculated minute displacement in a tangential direction. The acceleration or deceleration is carried out for a minute displacement after interpolation. Delays are successively stored in the form of interpolated minute segments and a minute displacement in a tangential direction separately calculated from a delay in the tangential direction is proportionally distributed for each minute section, thereby to obtain an output minute displacement in each axis.

摘要翻译： 用于数字控制器的加速/减速装置设置有内插装置，用于在切向方向上从单独计算的微小位移中周期性地获得每个轴上的微小位移。 加速或减速在插补后进行微小位移。 延迟以插入的微小段的形式相继存储，并且从切线方向上的延迟分开计算的切向方向上的微小位移按照每个微小部分成比例地分布，从而获得每个轴的输出微小位移。

公开(公告)号：EP0049112A3

公开(公告)日：1984-01-11

申请号：EP81304400

申请日：1981-09-24

申请人： FANUC LTD

发明人： Nozawa, Ryoichiro ,  Kiya, Nobuyuki

IPC分类号： G11C19/08

CPC分类号： G05B19/16 ,  G11C19/0875

摘要： data write/read control apparatus, provided between a numerical control device and a cassette memory for writing data into the cassette memory and for reading data out of the cassette memory, as well as a method of controlling the data write/read operations. In a data write operation, a file is divided into a plurality of blocks, each comprising a predetermined number of bytes, one file constituting one input unit of data written into the cassette memory from the numerical control device. A control byte is added to the head part of each block and, when the amount of remaining storage space in the cassette memory is equivalent to one block of data, a code, indicating a shift to a subsequent cassette memory, is written in the control byte of the last block stored in the cassette memory. An external indication is given instructing when to exchange the cassette memory for the subsequent cassette. In a data read operation, the code indicating cassette exchange is sensed, whereupon an external indication is given instructing exchange of the cassette.

公开(公告)号：EP0092977A1

公开(公告)日：1983-11-02

申请号：EP83302265.0

申请日：1983-04-21

申请人： FANUC LTD.

发明人： Nozawa, Ryoichiro ,  Kawamura, Hideaki ,  Miyata, Mitsuto

IPC分类号： G05B19/405 ,  G09C1/10

CPC分类号： G05B19/406 ,  G05B2219/35262 ,  G05B2219/36366 ,  G05B2219/36542

摘要： A robot control system wherein a subprogram or custom macro for execution of prescribed machining or processing is stored previously in a memory (15b), a call instruction for calling the subprogram or custom macro from the memory (15b) is inserted beforehand in a numerical control program, and numerical control processing is executed in accordance with the subprogram or custom macro called from memory (15b). When the subprogram or custom macro stored in the memory (15b) is desired to be delivered to an external output unit (20), the data are first enciphered by enciphering means (19b) to prevent their decoding by end users. When a subprogram or custom macro stored in an external storage medium (11) in enciphered form is desired to be registered in the memory (15b), the data are deciphered by deciphering means (13b) before being stored in the memory (15b).

摘要翻译： 一种机器人控制系统，其中用于执行规定的加工或处理的子程序或自定义宏预先存储在存储器（15b）中，用于从存储器（15b）调用子程序或定制宏的调用指令被预先插入到数字控制 程序和数字控制处理根据从存储器（15b）调用的子程序或自定义宏执行。 当希望存储在存储器（15b）中的子程序或定制宏传送到外部输出单元（20）时，首先通过加密装置（19b）对数据进行加密，以防止其由最终用户进行解码。 当希望存储在存储器（15b）中的存储在外部存储介质（11）中的子程序或自定义宏被存储在存储器（15b）中时，在被存储在存储器（15b）中之前，数据被解密装置（13b）解密。

公开(公告)号：EP0092377A2

公开(公告)日：1983-10-26

申请号：EP83302096.9

申请日：1983-04-14

申请人： FANUC LTD.

发明人： Nozawa, Ryoichiro ,  Kawamura, Hideaki ,  Ohtsuki, Toshiaki

IPC分类号： G05B19/405

CPC分类号： G05B19/40936 ,  G05B2219/35262 ,  G05B2219/35263 ,  G05B2219/36572 ,  Y02P90/265

摘要： A numerical control system of the type wherein a workpiece is machined as commanded by executing processing specified by a custom macro. A custom macro composed of at least a custom macro identification and an instruction using variables is stored beforehand in a memory (106), a custom macro call instruction calling the custom macro, and the custom macro identification, are inserted beforehand in a numerical control machining program, the custom macro having the custom macro identification is read out of the memory (106), processing is executed based on the custom macro, identifiers (see 108) are attached to the variables (see 107) to name them, and both the identifiers and actual values assigned to the variables named by the identifiers are displayed on a display unit (110).

摘要翻译： 一种数控系统，其中通过执行由自定义宏指定的处理命令来加工工件。 由至少自定义宏识别和使用变量的指令构成的自定义宏预先存储在存储器（106）中，调用自定义宏的定制宏调用指令和自定义宏识别被预先插入数控加工 程序中，从存储器（106）中读出具有自定义宏识别的自定义宏，基于自定义宏执行处理，标识符（参见108）被附加到变量（参见107）来命名它们，并且两者 分配给由标识符命名的变量的标识符和实际值显示在显示单元（110）上。

公开(公告)号：EP0080377A2

公开(公告)日：1983-06-01

申请号：EP82306252.6

申请日：1982-11-24

申请人： FANUC LTD.

发明人： Nozawa, Ryoichiro ,  Komiya, Hidetsugu ,  Kishi, Hajimu ,  Matsuura, Hitoshi ,  Yamazaki, Etsuo ,  Sakurai, Hiroshi

IPC分类号： G05B19/23 ,  B23Q35/123

CPC分类号： B23Q35/123 ,  G05B19/19 ,  G05B19/231 ,  G05B2219/41409 ,  G05B2219/42118 ,  G05B2219/42213

摘要： A method and apparatus for sensing the present position of a movable machine element in a position control system when a position control loop in the system is placed in the open state. In the position control system, error storage means (107b) computes and stores an error between a command value produced by a control unit (102), and an amount of movement sensed by a position sensor provided on a motor shaft or on the movable machine element, and a speed control circuit controls the motor in accordance with the error from the error storage means (1 07b). The method of sensing present position includes steps of reading and storing as a steady deviation the error from said error storage means (1 07b) immediately before the position control loop is switched from the closed to the open state, reading the error in the error storage means (1 07b) when the position control loop is in the open state, updating the content of a present position register (202) on the basis of an arithmetic difference obtained by subtracting the steady deviation from the read error, and revising the content of the error storage means (107b) by the arithmetic difference.

摘要翻译： 一种用于在系统中的位置控制回路处于打开状态时感测位置控制系统中的可移动机器元件的当前位置的方法和设备。 在位置控制系统中，错误存储装置（107b）计算并存储由控制单元（102）产生的命令值与由设置在电动机轴或可移动机器上的位置传感器感测的移动量之间的误差 元件，并且速度控制电路根据来自错误存储装置（107b）的错误来控制电动机。 感测当前位置的方法包括以下步骤：在位置控制回路从关闭状态切换到打开状态之前立即读取并存储来自所述错误存储装置（107b）的误差作为稳定偏差，读取错误存储器中的错误 当位置控制环路处于打开状态时，装置（107b）根据通过从读取错误中减去稳定偏差获得的算术差异更新当前位置寄存器（202）的内容，并且修改 误差存储装置（107b）通过算术差异。

公开(公告)号：EP0068797A2

公开(公告)日：1983-01-05

申请号：EP82303249.5

申请日：1982-06-22

申请人： FANUC LTD.

发明人： Nozawa, Ryoichiro ,  Kiya, Nobuyuki

IPC分类号： G05B19/405 ,  G05B19/42

CPC分类号： G05B19/409 ,  G05B19/4202 ,  G05B2219/33182 ,  G05B2219/33185 ,  G05B2219/33205 ,  G05B2219/36395

摘要： In a numerical control system an automatic programmer (11) and at least one numerical control device (21) are interconnected by a cable (CBL). A numerical control program prepared by the automatic programmer is transferred to the numerical control device. The automatic programmer includes an input unit (104) for entering data, a processor (101) which edits the data for producing a numerical control program, a memory (103) for storing the complicated numerical control program, and a display device (105) which displays a graphic in accordance with the output of the processor. The numerical control device includes a memory (203) for storing the numerical control program, which is transferred from the automatic programmer via the cable. Such a system can enable programming and numerical control processing to be carried out concurrently.

摘要翻译： 在数字控制系统中，自动编程器（11）和至少一个数字控制装置（21）通过电缆（CBL）互连。 由自动编程器准备的数控程序被传送到数控装置。 自动编程器包括用于输入数据的输入单元（104），编辑用于产生数字控制程序的数据的处理器（101），用于存储复杂数字控制程序的存储器（103）和显示设备（105） 其根据处理器的输出显示图形。 数字控制装置包括用于存储数字控制程序的存储器（203），其经由电缆从自动编程器传送。 这样的系统能够同时进行编程和数值控制处理。

公开(公告)号：EP0049152A2

公开(公告)日：1982-04-07

申请号：EP81304484.9

申请日：1981-09-29

申请人： FANUC LTD.

发明人： Nozawa, Ryoichiro ,  Kawamura, Hideaki

IPC分类号： G05B19/403

CPC分类号： G05B19/195 ,  G05B2219/34324 ,  G05B2219/35316 ,  G05B2219/35436 ,  G05B2219/36084 ,  G05B2219/36383 ,  G05B2219/41032 ,  G05B2219/41249 ,  G05B2219/50001

摘要： A numercial control method or apparatus in which a numerical control device (not shown) is adapted to control a machine tool equipped with a plurality of tables (11, 12), as one example, on which workpieces may be secured to be machined by a tool (13) mounted on a head. A table (12) which is not being controlled automatically by the numerical control device can be made independent of the automatic operation network of the numerical control device and placed in a manual operation mode or manual data input mode in which the table (12) can be moved manually even while the numerical control device controls the other table (11) or tables automatically.

摘要翻译： 数值控制装置（未示出）适用于控制配备有多个工作台（11,12）的机械工具的数值控制方法或装置，作为一个示例，工件可固定在工件上以由 工具（13）安装在头上。 不受数控装置自动控制的台（12）可独立于数控装置的自动操作网络而置于手动操作模式或手动数据输入模式中，其中工作台（12）可以 即使数控设备自动控制其他表（11）或表，也可以手动移动。