公开(公告)号：WO1984004718A1

公开(公告)日：1984-12-06

申请号：PCT/JP1984000056

申请日：1984-02-20

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MATSUI, Mitsuo ,  MATSUURA, Hitoshi

Inventor： FANUC LTD

IPC: B23Q35/00

CPC classification number: B23Q35/123 ,  Y10T409/300896 ,  Y10T409/30196

Abstract: A profiling control method is employed in a master-slave type of profiling system provided with first and second profiling apparatuses in which control units (TCC1, TCC2) generate speed commands (Vx, Vy, Vz) for each of the axes by employing detection signals generated from tracer heads (TC1, TC2); and motors (XM1, YM1, ZM1; XM2, YM2, ZM2) provided for each of the axes are driven in accordance with the corresponding speed commands to machine workpieces (WK1, WK2) following the profile of a model (MDL). In this system, a model (MDL1) is traced by the tracer head (TC1) of the first profiling apparatus, and the second profiling apparatus is given movement commands in accordance with the tracing effected by the tracer head (TC1), in order to perform profiling machining. In this profiling control method, the first profiling apparatus (TCC1, TCM1) outputs digital speed commands (Vx, Vy, Vz) to control the motors (XM1, YM1, ZM1) for each of the axes. The first profiling apparatus also monitors the current position of a movable part, and sends to the second profiling apparatus (TCC2, TCM2) the movement of the movable part along each axis within each predetermined period of time as digital movement commands. A pulse distributor (PDC2) in the second profiling apparatus performs a pulse distribution calculation from the movement command data input from the first profiling apparatus, to control the motors (XM2, YM2, ZM2) for each of the axes on the second profiling apparatus side.

Abstract translation: 廓线控制方法是在伺服类型的分析系统中使用的，设置有第一和第二仿形装置，其中，所述控制单元（TCC1，TCC 2）产生速度指令（Vx的， （TC1，TC2）产生的检测信号，对每个轴进行测量。 发动机（XM1，YM1，ZM1; XM2，YM2，BA2）提供用于每个轴被驱动按照相应的速度指令用于加工之后的模型的轮廓的工件（WK1，WK2）（MDL） 。 在该系统中，一个模型（MDL1）由第一分析装置的示踪剂头（TC1）跟踪，并且所述第二分析装置接收基于由所述示踪剂头（TC 1）执行跟踪的运动命令，以 执行仿形加工。 在该仿形控制方法中的第一分析设备（TCC1，TCM1），用于控制各轴的电动机（XM1，YM1，ZM1）产生数字指令速度（V x，VY，1/2）。 所述第一分析装置还控制的可动部的实际位置和期间在CNC的形式的每个预定时间段发送第二仿形装置（TCC 2，TCM2）沿每个轴的可动部分的运动 的运动。 在第二分析装置A脉冲分配器（PDC2）基于由所述第一分析装置，用于控制电机（XM2，YM2，BA2），用于输入的运动控制数据的脉冲分布计算 第二轮廓测定装置侧的每个轴。

公开(公告)号：WO1984004611A1

公开(公告)日：1984-11-22

申请号：PCT/JP1984000052

申请日：1984-02-20

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

Inventor： FANUC LTD

IPC: G06F03/02

CPC classification number: G06F3/0489 ,  G05B19/40932 ,  Y02P90/265

Abstract: A method of inputting a plurality of data (Xe, Ye, R, Xc, Yc) required for a predetermined processing, the method comprising the steps of: previously storing the input order of the plurality of data; displaying the names of the plurality of data on a CRT screen (104b) in the input order; feeding the data in the input order, as well as feeding a symbol (,) as a punctuation mark between the adjacent data; feeding a symbol (NL) representing the end of the data input after all the data are fed; and discriminating the fed data from each other by distinguishing the symbol as the data punctuation mark from the other symbols and by employing the data input order.

公开(公告)号：WO1984004609A1

公开(公告)日：1984-11-22

申请号：PCT/JP1984000055

申请日：1984-02-20

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

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40932 ,  Y02P90/265

Abstract: This method of discriminating angle data is used when preparing NC machining data in which the configuration of a part is specified by inputting directions for each of various blocks (b1 to b5) of the part configuration using configuration symbolic keys, and then dimensions for the various blocks of the part configuration are input so that NC machining data can be prepared using the input data. The method comprises a first step of specifying the dimensions of linear elements (L3, L4) in predetermined blocks (b3, b4) by data which includes at least the angles of intersection between each of the linear elements and a reference line (Z-axis), and a second step of recognizing that each of the linear elements (L3, L4) is on a straight line obtained by rotating the reference line through a given angle in a given direction about the point of intersection therebetween, employing the angles and direction of each of the linear elements of the block.

公开(公告)号：WO1984004479A1

公开(公告)日：1984-11-22

申请号：PCT/JP1984000053

申请日：1984-02-20

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

Inventor： FANUC LTD

IPC: B23Q11/00

CPC classification number: G05B19/4061 ,  G05B2219/49157

Abstract: A tool interference checking method is employed to check, beforehand, whether or not a tool (TL) will interfere with a workpiece (WK) when cutting the workpiece (WK), by moving the tool (TL) relative to the workpiece (WK) in accordance with NC data constituted by a plurality of blocks (B1 to B5). The method comprises the steps of: obtaining tool movement directions (+X, -Y, +X, +Y, +X) specified by the NC data for each block; obtaining a tool offset path (TCP) from the tool radius r and the NC data; obtaining tool movement directions (+X, -Y, -X, +Y, +X) for each block of the obtained tool offset path; making a comparison between the tool movement directions specified by the NC data and the tool movement directions specified by the tool offset path for each block; and judging that tool interference will occur when the tool movement directions do not coincide with each other within at least one block.

公开(公告)号：WO1984003959A1

公开(公告)日：1984-10-11

申请号：PCT/JP1984000137

申请日：1984-03-27

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

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4202 ,  G05B19/40932 ,  G05B2219/33263 ,  G05B2219/39401 ,  Y02P90/265

Abstract: A method of automatically programming a robot instruction program comprises a first step of inputting data specifying equations for a transformation between a coordinate system set for a machine tool (102, 103) and a coordinate system set for a robot (101); a second step of inputting robot operation positions (P11, P12 ... P15; P21, P22 ... P25) for the machine tool, using the coordinate system for the machine tool; a third step of transforming the robot operation positions specified in the machine tool coordinate system into corresponding coordinate values in the robot coordinate system, using the specified transformation equations; and a step of preparing a robot instruction program using the coordinate values in the robot coordinate system obtained by this transformation.

Abstract translation: 一种自动编程机器人指令程序的方法包括：第一步骤，输入指定用于机床（102,103）的坐标系和为机器人（101）设置的坐标系之间的变换的等式的数据; 使用机床的坐标系输入机床操作位置（P11，P12 ... P15; P21，P22 ... P25）的第二步骤; 使用指定的变换方程将机床坐标系中指定的机器人操作位置变换为机器人坐标系中的相应坐标值的第三步骤; 以及使用通过该变换获得的机器人坐标系中的坐标值来准备机器人指令程序的步骤。

公开(公告)号：WO1984002591A1

公开(公告)日：1984-07-05

申请号：PCT/JP1983000448

申请日：1983-12-21

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

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40933 ,  G05B2219/35461 ,  G05B2219/36225 ,  G05B2219/36337 ,  G05B2219/36497 ,  Y02P90/265

Abstract: A method of preparing an NC part program includes a figure-defining sentence defining a figure (MFIG), a motion-defining sentence defining the motion of a tool (TL), and auxiliary machining data, such as feed rate and rotational speed of spindle. The method comprises the steps of: prestoring motion-defining sentences corresponding to various figures together with figure names; supplying a figure name and defining the figure (MFIG) while specifying a point (P1), straight lines (S1 to S4) or circular arcs; and combining the motion-defining sentence corresponding to the supplied figure name and the specified figure-defining sentence to prepare a part program.

公开(公告)号：WO1984001644A1

公开(公告)日：1984-04-26

申请号：PCT/JP1983000352

申请日：1983-10-14

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

Inventor： FANUC LTD

IPC: G06K01/02

CPC classification number: G06K1/14 ,  G06K1/02

Abstract: A data input/output device comprises a controller (1), a tape punch (5), a tape reader (4), and a printer (6) and can be operated by commands from a host computer. A counter (5g) counting the number of characters punched is provided in the tape punch (5), so that the number of characters punched in a paper tape is counted and the number of characters counted is printed out. The length of the tape is calculated from the number of characters counted, and the length of the tape is printed out on the tape by the printer, together with the number of characters counted.

Abstract translation: 数据输入/输出设备包括控制器（1），磁带打孔机（5），磁带读取器（4）和打印机（6），并且可以通过来自主计算机的命令来操作。 在带式打孔机（5）中设置计数打孔字符数的计数器（5g），以便打印在纸带上打印的字符数，并打印出计数的字符数。 磁带的长度由计数的字符数量计算，磁带的长度由打印机打印在磁带上，以及计数的字符数。

公开(公告)号：WO1984001642A1

公开(公告)日：1984-04-26

申请号：PCT/JP1983000350

申请日：1983-10-14

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

Inventor： FANUC LTD

IPC: G06K01/02

CPC classification number: G06K1/14 ,  G06K1/02

Abstract: A data input/output device comprises a controller (1), a tape punch (5), a tape reader (4), and a printer (6) and can be operated by commands from a host computer. A data discriminator identifying delete code data is provided in the tape punch (5), the discriminator cancels data in the discriminator when it detects delete code data, thereby inhibiting the transmission of delete codes to the punching unit (5e) of the tape punch.

Abstract translation: 数据输入/输出设备包括控制器（1），磁带打孔机（5），磁带读取器（4）和打印机（6），并且可以通过来自主计算机的命令来操作。 在磁带打孔机（5）中提供识别删除代码数据的数据鉴别器，当鉴别器检测到删除代码数据时，鉴别器取消鉴别器中的数据，从而禁止将删除代码传送到打孔机的冲孔单元（5e）。

公开(公告)号：WO1982004336A1

公开(公告)日：1982-12-09

申请号：PCT/JP1982000199

申请日：1982-05-27

Applicant: FANUC LTD ,  KISHI HAJIMU ,  TANAKA KUNIO

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/41 ,  G05B2219/34098 ,  G05B2219/50332 ,  Y10T409/30112 ,  Y10T409/303808

Abstract: Procede de correction du diametre d'un outil pour un dispositif de commande numerique qui, lors de l'usinage tridimensionnel d'une piece a usiner au moyen d'un outil, peut calculer les coordonnees de la position centrale de l'outil Pi decalees d'une distance egale au rayon r de l'outil dans la direction perpendiculaire a la surface d'usinage a partir des informations sur la position P1, Pc, P2 qui lui sont fournies. Ce procede comprend les etapes consistant a obtenir un vecteur de decalage unitaire Vi a partir d'un plan derive des vecteurs U, V perpendiculaires a la premiere et a la deuxieme surfaces d'usinage dans un point de coin tridimensionnel d'usinage Pc a partir des informations de position P1, Pc, P2, a corriger les composantes axiales du vecteur de decalage unitaire Vi de maniere que le centre de l'outil se deplace le long d'une courbe qui continue doucement depuis la trace centrale de l'outil autour du point de coin Pc, et a obtenir les coordonnees de la position centrale de l'outil Pi a partir du vecteur de decalage unitaire corrige Vi', le rayon r de l'outil et les informations sur la position du point de coin tridimensionnel Pc.

公开(公告)号：WO1982004138A1

公开(公告)日：1982-11-25

申请号：PCT/JP1982000179

申请日：1982-05-18

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

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40932 ,  G05B2219/36333 ,  G05B2219/36572 ,  Y02P90/265

Abstract: Un dispositif de commande numerique comprend un processeur (102a), servant a ajouter une fonction de formage d'information de commande numerique au dispositif (102) pour la commande numerique d'une machine de travail (103), une memoire exterieure (210) pour le stockage des donnees de travail relatives aux differents modeles de forme, des moyens d'entree (202), un processeur de mise en forme des donnees (102c) et une memoire interne (102d). Les donnees de travail correspondantes sont ainsi lues dans la memoire externe (201c) au moyen d'une entree de code de partie par les organes d'entree (202), des informations de commande numerique sont formees a partir des donnees de travail selon les valeurs numeriques introduites au moyen des organes d'entree (202) par le processeur de mise en forme de donnees (102c), et sont stockees dans la memoire interne.

Abstract translation: 数字控制器包括用于将数字控制信息形成功能添加到用于工作机器（103）的数字控制的设备（102）的处理器（102a），外部存储器（210） 用于存储与不同形状模型有关的工作数据，输入装置（202），数据整形处理器（102c）和内部存储器（102d）。 因此，相应的工作数据借助于由输入装置（202）输入的部分代码被读入到外部存储器（201c）中，数字控制信息由工作数据根据 由数据整形处理器（102c）由输入装置（202）输入的数值，并存储在内部存储器中。