公开(公告)号：WO1987000311A1

公开(公告)日：1987-01-15

申请号：PCT/JP1986000338

申请日：1986-07-01

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: B25J9/161 ,  G05B19/4148 ,  G05B2219/33182 ,  G05B2219/33337 ,  G05B2219/34076 ,  G05B2219/36417 ,  G05B2219/37572

Abstract: A system for controlling articulated robot wherein a cycle which receives serial data from an external instruction device and a cycle which reversely converts the received serial data into correction data on each of the axes from orthogonal coordinates and distributes them, are executed in parallel by first and second operation units (CPU-a, CPU-b) in a robot control unit which is served with control target information on the articulated robot via a serial interface (11), in order to produce in real time a robot drive instruction that corresponds to said control target information maintaining a sufficiently short interpolation interval, and in order to control the operation of each of the axes.

公开(公告)号：WO1986004004A1

公开(公告)日：1986-07-17

申请号：PCT/JP1985000723

申请日：1985-12-26

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 welding lines of an automatic welding machine comprises detecting means (I) for detecting a welding current that flows between the tip of a wire (WR) and a welding member (WK), memory means for storing the welding current detected by the detecting means (I) at either the right end point or the left end point of the welding line during the weaving movement, and operation means for operating the correction amount of the weaving movement based upon the current values at two or more end points stored in said memory means.

公开(公告)号：WO1988008350A1

公开(公告)日：1988-11-03

申请号：PCT/JP1988000396

申请日：1988-04-22

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MIZUNO, Tohru ,  KANDA Yuichi

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127

Abstract: When welding is carried out while the welding torch TC of a welding machine is gripped by a robot and woven to the right and left with respect to a weld line, a path correction method of an automatic welding machine in accordance with the present invention comprises the steps of computing an integration value of a welding current for each half cycle of the torch to be woven with respect to a given weld line, deciding a correcting direction, making computation on the basis of the integration value in accordance with the correcting direction thus determined to determine correction quantity, multiplying the correction quantity thus determined by a predetermined coefficient and correcting the weaving path of the torch.

公开(公告)号：WO1986002029A1

公开(公告)日：1986-04-10

申请号：PCT/JP1985000532

申请日：1985-09-26

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

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127

Abstract: A welding control system in an automatic welding machine, in which a controller (3) controls the movement of a torch (TC), while the tip of said torch is weaving along a welding line (CT), based upon independent amplitude instructions of the left side (aL) and the right side (aR) with the welding line as a center. The system makes it possible to obtain a weaving pattern that is adapted to the mode of the welding portion.

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：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：WO1987004536A1

公开(公告)日：1987-07-30

申请号：PCT/JP1987000048

申请日：1987-01-26

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40936 ,  G05B2219/35511 ,  G05B2219/36011 ,  G05B2219/36019 ,  G05B2219/36128 ,  G05B2219/36131 ,  Y02P90/265

Abstract: An apparatus for controlling robot which controls a robot according to a program language and is provided with keys and a display unit which displays the data of at least one block. In the data of one block that is displayed, a language to be changed is cyclically selected to arrange desired blocks and the data are directly stored. Therefore, even an unskilled user can easily arrange desired blocks within a short period of time without involving error such as syntax error.

公开(公告)号：WO1988005186A1

公开(公告)日：1988-07-14

申请号：PCT/JP1988000010

申请日：1988-01-07

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/237 ,  B25J9/1664 ,  B25J9/1679 ,  G05B2219/40006 ,  G05B2219/50109

Abstract: A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a poistion where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.

Abstract translation: 机器人控制器允许机器人用机械手握住工件，将其堆放在预定位置，或将其从堆叠中移出。 机器人控制器具有用于存储与手的移动有关的多个接近模式的存储器构件（3）。 控制器可以任意地设定从机械手开始移动的位置到工件从堆叠移除的位置的工件堆叠的路径，以及 从活动点到手停止位置的路径，取决于工件类型和活动位置。 控制器还可以改变机械手在活动位置的姿态。

公开(公告)号：WO1986004160A1

公开(公告)日：1986-07-17

申请号：PCT/JP1985000726

申请日：1985-12-27

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

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40937 ,  G05B2219/35262 ,  G05B2219/35263 ,  G05B2219/36283 ,  G05B2219/36333 ,  Y02P90/265

Abstract: A method of preparing NC data, and particularly a method of preparing NC data by preparing macros (macros A, B, C, -----) that determine auxiliary data for machining (such as tools, the number of revolutions of main spindle, cutting speed, cutting conditions, or the like) in addition to the processing program (MNDP) for preparing NC data. The method of preparing NC data comprises: a step for interactively inputting at least data related to the shapes among the data required for preparing the NC data; a step for storing in advance in the memory (13) the processing program (MNDP) for automatically preparing the NC data using said data related to the shapes, and the macros (macros A, B, C, -----) that determine auxiliary data for machining required for preparing the NC data; a step for calling a macro that corresponds to said auxiliary data for machining in determining the auxiliary data for a predetermined machining; a step for determining the auxiliary data for the machining using said macro; and a step for preparing the NC data that perform the machining in accordance with a shape that is input by using said data related to the shapes and the auxiliary data for machining under the control of the processing program.

Abstract translation: 一种准备NC数据的方法，特别是通过准备确定用于加工的辅助数据的宏（宏A，B，C，-----）来准备NC数据的方法（例如工具，主轴的转数 ，切割速度，切割条件等），以及用于准备NC数据的处理程序（MNDP）。 准备NC数据的方法包括：用于交互地输入与准备NC数据所需的数据中与形状有关的至少数据的步骤; 预先存储在存储器（13）中的处理程序（MNDP）的步骤，用于使用与形状有关的数据自动准备NC数据，以及宏（宏A，B，C，-----） 确定准备NC数据所需的加工辅助数据; 用于在确定用于预定加工的辅助数据时调用与所述用于加工的辅助数据相对应的宏的步骤; 使用所述宏来确定用于加工的辅助数据的步骤; 以及根据在处理程序的控制下通过使用与形状相关的数据和用于加工的辅助数据而输入的形状来准备执行加工的NC数据的步骤。