公开(公告)号：WO1984001636A1

公开(公告)日：1984-04-26

申请号：PCT/JP1983000353

申请日：1983-10-14

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  MIZUNO, Yutaka

Inventor： FANUC LTD

IPC: G06F03/12

CPC classification number: G05B19/4202

Abstract: A data input/output apparatus which has a controller (1), a tape punch (5), a tape reader (4) and a printer (6) and which can also be operated by commands from a host computer. The printer is provided with a data judging circuit for discriminating data which is not usually printed. When data, which is not usually printed, is detected by the data judging circuit, a signal for printing a character corresponding to the data is delivered to a printing part (6e) so that printing can be effected according to the number of digits set in a hit counter (6db) independently of the number of characters set according to data on the number of characters per line.

公开(公告)号：WO1984001632A1

公开(公告)日：1984-04-26

申请号：PCT/JP1983000370

申请日：1983-10-21

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  TAKEGAHARA, Takashi

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4202 ,  G05B19/40937 ,  G05B2219/36045 ,  G05B2219/36261 ,  G05B2219/36305 ,  G05B2219/45141 ,  G05B2219/49392 ,  G05B2219/50008 ,  G05B2219/50213 ,  Y02P90/265

Abstract: A method of preparing an NC part program for numerically-controlled machining includes a plurality of machining steps, e.g., a first machining step for machining workpiece (WK) into a roughly-machined shape (P5 - P4 - P3 - P2 - P1), and a second machining step for machining the workpiece into a finished shape (P6 - P7 - P8 - P9 - P10). The method comprises: inputting, for each machining step, at least the tool to be used TL1, TL2, the axial incremental quantity between a reference position (R) on a tool slide (TBS) and the end of the tool used, and positions (P5 to P1; P6 to P10) to be machined; preparing a subprogram for each machining step by employing these items of data; preparing a main program for calling the subprograms in the order of machining step; and combining the subprograms and the main program to prepare an NC part program.

公开(公告)号：WO1982003474A1

公开(公告)日：1982-10-14

申请号：PCT/JP1982000104

申请日：1982-04-05

Applicant: FANUC LTD ,  KISHI HAJIMU ,  SEKI MASAKI ,  TANAKA KUNIO

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/41 ,  B23H7/06 ,  G05B2219/35151 ,  G05B2219/49243 ,  G05B2219/50334 ,  G05B2219/50336

Abstract: Procede d'usinage a commande numerique permettant l'usinage d'une surface incurvee (FS) formee en reliant des points correspondants (mi, ni) (i = 1, 2, ...) sur deux courbes (CV1, CV2) via une electrode a fil d'un dispositif d'usinage a decoupe par fil par electro-erosion et l'outil (BC) d'une machine a fraiser a commande simultanee sur cinq axes. Dans ces procedes d'usinage a commande numerique on introduit des informations permettant de specifier les deux courbes (CV1, CV2), des informations concernant le diametre de l'outil ou du fil, des informations concernant la direction de correction de l'outil ou du fil, et des informations de division permettant de diviser les courbes respectives, la position decalee au prochain point de division (mi, ni) du point de division (mi-1, ni-1) occupe actuellement par l'outil (BT) ou par le fil est obtenu avec les informations respectives, l'outil (BT) ou le fil est deplace vers la position decalee, et la surface incurvee (SF) est usinee.

公开(公告)号：WO1989012266A1

公开(公告)日：1989-12-14

申请号：PCT/JP1989000540

申请日：1989-05-30

Applicant: FANUC LTD ,  KISHI, Hajimu ,  FUJITA, Naoki ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05D03/00

CPC classification number: G05B19/232 ,  G05B19/4062 ,  G05B2219/42268 ,  G05B2219/42289

Abstract: A device for properly detecting the generation of excessive positional deviation in a servo system for a wide range of rotational speed of a servo motor to correctly and quickly determine the overload condition of the servo motor. A central processing unit in the numerical controller may determine that the practical positional deviation read from the axis controller is greater than an allowable maximum value of a positional deviation that is obtained by dividing the product of a maximum value of a pulse distribution amount stored in the record portions of a table in the memory and a predetermined proportional constant by a position loop gain (S4 to S6). It is then determined that an excessive positional deviation has generated in the servo system due to abnormal condition in the servo system, overload of the servo motor, or interference between the mechanical moving part and foreign substance. The servo motor is then stopped and the alarm message is displayed (S7).

公开(公告)号：WO1986002469A1

公开(公告)日：1986-04-24

申请号：PCT/JP1985000585

申请日：1985-10-18

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  SAKAKIBARA, Shinsuke

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/41 ,  G05B2219/45083 ,  G05B2219/50353

Abstract: Method of forming the positional data on the control shafts of a robot without carrying out a teaching operation. This method of forming the positional data on the control shafts of a robot consists of a step of inputting the data by which the shape of a workpiece (WK) is determined, and the data (alpha, beta, delta) by which the posture of a tool (TL) which is in accordance with the content of an operation practiced by the robot is determined, a step of computing the positions (X, Y, Z) in the coordinate system X-Y-Z of the workpiece of a free end (P) of the tool by using the data by which the shape of the workpiece is determined, a step of determining the positions of the robot-forming control shafts with reference to the position of the free end of the tool and the data on the posture of the tool, and a step of determining the positions of the control shafts of the robot in order along a path of tool (PT).

公开(公告)号：WO1986002184A1

公开(公告)日：1986-04-10

申请号：PCT/JP1985000527

申请日：1985-09-20

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  ONISHI, Yasushi

Inventor： FANUC LTD

IPC: G06F13/00

CPC classification number: G06F9/445 ,  G05B19/408 ,  G05B19/4202 ,  G05B2219/34197 ,  G05B2219/36112 ,  G05B2219/36174

Abstract: A method of loading a system program for apparatuses (SYS1, SYS2) that execute predetermined processing controlled by a system program that has been loaded into a memory. According to this loading method, the system program is divided into a plurality of modules (M1 to M4) which are stored on a floppy disc (FLOP); data (CD) are set in advance in ROMs (LROM1, LROM2) so that the capacities of memories (MM1, MM2), to which the system program wil be transferred and stored, are confirmed; the memory capacities of the apparatuses (SYS1, SYS2) are confirmed with reference to data (CD) at the time when the system program is being loaded such that a predetermined module is loaded onto the memories (MM1, MM2) based upon the memory capacity; the module (M4) that has not been loaded is then stored as a relocatable module in the memory (MM1) to substitute for an unnecessary module as required, and an execution control table (LAT) is prepared to control the memory position in the memory (MM1) of said relocatable module. When a relocatable module is to be referred to, the memory position is found by using the execution control table and the relocatable module is referred to.

公开(公告)号：WO1986002030A1

公开(公告)日：1986-04-10

申请号：PCT/JP1985000552

申请日：1985-10-04

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SAKAKIBARA, Shinsuke ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127

Abstract: A system for correcting a path of an automatic welding machine has a means which differentiates the welding current at the right and left positions of the torch during weaving and a means which detects welding current when a value obtained from the above differentiation means is zero. The welding current is subtracted when the right and left differentiated values are zero. Based upon the value thus obtained, the central position of weaving in which the torch proceeds is corrected.

公开(公告)号：WO1986001617A1

公开(公告)日：1986-03-13

申请号：PCT/JP1985000462

申请日：1985-08-21

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SAKAKIBARA, Shinsuke ,  ISHIKAWA, Haruyuki ,  KANDA, Yuuichi

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: B25J9/1692 ,  G05B19/41 ,  G05B2219/45104 ,  G05B2219/49386 ,  G05B2219/50353

Abstract: In the system for controlling the posture of a tool, a tool vector W1 which represents the actual position of the tool is turned to an object tool vector W', and the driving data on each axis of a robot are prepared on the basis of the data obtained by the turning of the vector. Therefore, in, for example, a welding robot, the angle of inclination of a torch with respect to an arc starting surface can be set to an optimum level automatically, so that an arc starting point can be found accurately. This enables a desired arc starting point to be found reliably without assistance.

公开(公告)号：WO1985005709A1

公开(公告)日：1985-12-19

申请号：PCT/JP1985000318

申请日：1985-06-05

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio

Inventor： FANUC LTD

IPC: G06F15/16

CPC classification number: G06F15/167

Abstract: A method of sending and receiving data between two devices (22, 23) via a common memory (21) which consists of a first section (21a) and a second section (21b). When the host device (22) is accessing one section, the subordinate device (23) is allowed to access another section. The section which is being accessed is monitored. Commands and data are written onto the section that has not been accessed, or the commands and data are read out from the section that has not been accessed, so that the data are sent and received between the host device (22) and the subordinate device (23).

Abstract translation: 一种通过由第一部分（21a）和第二部分（21b）组成的公共存储器（21）在两个装置（22,23）之间发送和接收数据的方法。 当主机设备（22）正在访问一个部分时，下属设备（23）被允许访问另一部分。 正在访问的部分被监视。 命令和数据被写入未被访问的部分，或者从未被访问的部分中读出命令和数据，以便在主机设备（22）和下属设备之间发送和接收数据 （23）。

公开(公告)号：WO1985002693A1

公开(公告)日：1985-06-20

申请号：PCT/JP1984000590

申请日：1984-12-14

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  TANAKA, Kunio ,  MATSUMURA, Teruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40938 ,  G05B2219/36357 ,  G05B2219/45141 ,  G05B2219/49226 ,  Y02P90/265

Abstract: A tool-selecting method for automatic programming comprises the steps of: preparing a tooling file by storing in a memory (201) data on a plurality of tools which are simultaneously mounted on a turret, such as the name of a machining step in which each of these tools is employed, tool configuration data, and data on how each tool is mounted on the turret, and also storing in the memory (201) a plurality of tooling files (#1, #2,...#3) which have different combinations of tools; specifying which tooling file to use, together with data for specifying a final part configuration and a machining step; and selecting a tool for the specified machining step from the specified tooling file.