A machining apparatus includes a processor configured to control an actuator to move a tailstock in a first direction at a first speed, to detect a contact between the tailstock and a workpiece based on a change in an input amount to the actuator while the actuator is controlled to move the tailstock at the first speed, to control the actuator to stop moving the tailstock when the contact is detected, to control the actuator to move the tailstock by a first distance in a second direction, to control the actuator to move the tailstock in the first direction at a second speed lower than the first speed, and to control the actuator to stop moving the tailstock, when the input amount to the actuator becomes a value corresponding to the target pressing force while the actuator is controlled to move the tailstock at the second speed.

Provided are an automatic yard spindle transit control method, electronic device and storage medium, relating to the field of intelligent chemical fiber technology. The method includes: when a control button of the first PLC is in an online mode and communication between the first PLC and the MES is normal, obtaining second business data of a target workstation from second PLCs and sending first business data to the MES by the first PLC, to enable the MES to determine an online transit condition based on the first business data and return transit indication information to the first PLC; and when the first PLC receives the transit indication information, sending an analysis result of the transit indication information to the second PLCs by the first PLC, to enable the second PLCs to control the target workstation to perform a transit task based on the analysis result.

A motor control device to control a motor by feedback control includes an inverter to convert a DC voltage to a three-phase AC voltage and output the three-phase AC voltage to the motor, a current sensor to detect a three-phase current flowing through the motor, and a controller configured or programmed to control an output duty of the inverter by controlling the inverter by PWM, based on an output signal of the current sensor. The controller is configured or programmed to execute acquisition processing to acquire a discrete three-phase current being a discrete-time signal by sampling an output signal of the current sensor at a sampling cycle shorter than a cycle of the feedback control, and duty calculation processing to reduce a subsequent output duty of the inverter to be smaller than a current output duty of the inverter when the discrete three-phase current exceeds a target current value.