An encoder includes: an optical module that detects angular position information indicating an angular position of a rotating disk within one rotation thereof; a magnetic detecting unit that detects multi-rotation information indicating the number of rotations of the disk; a battery that supplies a power to the magnetic detecting unit when an external power is not supplied to the encoder; and a connector that connects connection terminals of the battery to a substrate to which at least one of the optical module and the magnetic detecting unit is connected, via solders in contact with the connection terminals.

A controller that controls a machine tool, a method of controlling a machine tool, and a computer program that causes a computer to operate as a controller that controls a machine tool, the machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target by means of coordinated motion of the control axes. The method includes acquiring a position command for driving a cutting tool or the work, acquiring a rotation speed of the rotated cutting tool or the rotated work, calculating oscillation amplitude, calculating an oscillation frequency, calculating an oscillation command for causing the cutting tool and the work to oscillate relative to each other, storing a command route, correcting the oscillation command based on the stored command route, determining a drive signal to be used for driving the servo motor, and outputting the drive signal.

The present disclosure discloses a command control in a multi-servo feedback control system. The command control includes: a servo acquiring preset delay time when a first action command is received from a main controller via serial data bus; the servo sending feedback information to the main controller after the preset delay time; wherein the preset delay time of the plurality of servos are different from each other, and the feedback information is configured to identify work status of the servo; receiving a second action command from the main controller; performing actions corresponding to the second action command and sending the feedback information to the main controller after the preset delay time if the second action command is valid. A servo and a multi-servo feedback control system for performing the command control are also provided.

A servo actuator ID setting method is performed by a servo actuator controlling system. The servo actuator controlling system includes a master controller and a plurality of servo actuators. One servo actuator is set to disconnect to a next servo actuator. A plurality of interfaces of the master controller are selected to turn on in sequence. The following steps are repeatedly performed to set servo actuator ID: broadcasting a signal to replace an original ID of each of the plurality of servo actuators with a target ID; the plurality of servo actuators in each branch connecting to the master controller; and replacing the original ID of each of the plurality servo actuator with the target ID.

A motor control device includes: a rotational position calculator that calculates a rotational position of a motor that rotates a rotor; an operation state controller that controls a state of supply of operation power to the rotational position calculator; a deviation calculator that calculates a deviation of a rotational position of the rotor on the basis of a stop target rotational position of the rotor and the rotational position of the rotor after supply of a drive current to a coil is stopped and before supply of operation power to the rotational position calculator is stopped; a storage controller that stores the deviation on a storage; a rotational position control signal generator that generates a rotational position control signal for controlling the rotational position of the rotor on the basis of the deviation stored on the storage and the stop target rotational position of the rotor; and a drive current output unit that outputs the drive current to the coil on the basis of the rotational position control signal after supply of operation power to the rotational position calculator is restarted by the operation state controller.

A servo system including a control device and multiple servo drivers reduces noise resulting from switching. The servo system includes a control device and multiple servo drivers. Each servo driver includes a servo signal generator, a PWM calculator that generates a PWM control signal with a pulse being modulated, and an inverter. The PWM calculator performs a first process of generating, using a predetermined parameter set based on a circuit structure including the servo driver and the corresponding motor, a superimposed signal to be superimposed on the command signal, and the superimposed signal differs for each of control axes corresponding to the respective plurality of motors when the command signal is in a low voltage range. The PWM calculator performs a second process of generating the PWM control signal by adding the superimposed signal to the command signal and by comparing a resulting signal with a predetermined carrier signal.

A numerical controller capable of finely designating a restart condition for look-ahead for a program after suppression of the look-ahead is configured to sequentially read out and analyze commands for blocks of a program, perform look-ahead processing to save the result of the analysis in a buffer, and execute the commands for the blocks looked ahead based on the analysis result saved in the buffer, thereby controlling a machine, and is provided with a function of stopping the look-ahead processing when a block into which a code for stopping look-ahead is inserted is read out from the program. The numerical controller is characterized by being provided with a restart condition determination unit, configured to determine whether or not a look-ahead restart condition commanded by the code for stopping look-ahead is satisfied, and a look-ahead preceding restart unit, configured to restart the look-ahead processing if it is determined by the restart condition determination unit that the restart condition is satisfied, and in that the restart condition is a condition related to the state of the machine.

A controller includes a first transmission unit that transmits identification information designating one servo-motor from among the servo-motors, an operation detection unit that detects an operation aspect of the driving device that is caused by a movement of the drive section driven by the servo-motor which is operated by the drive controller based on the identification information transmitted by the first transmission unit, and a correspondence information generation unit that creates correspondence information indicating which servo-motor among the servo-motors the identification information transmitted by the first transmission unit corresponds to, based on the detected operation aspect.

The present disclosure relates to a critical point locking method of servos, including: computing a current target deviation according to a target position and an actual position, computing a variation value according to the current target deviation and a previous target deviation, determining whether the variation value being greater than a constraint value, modifying the current target deviation according to the current target deviation and a predetermined value upon determining the predetermined condition being satisfied, configuring the modified current target deviation as a current controlling deviation, and driving the servo to move toward the target position according the current controlling deviation. As such, the servo may lock the position for 360 degrees, the locking stroke of the servo may be improved, and the application of the servo may be enlarged.

The present invention relates to a method for controlling an actuator (4) comprising a mobile element (60), the method comprising steps of receiving a set-point signal and two position-measurement signals (A, B) of the mobile element (60) acquired by different position sensors (7), calculating a deviation between the two position-measurement signals (A, B), generating (102) a control signal (S) for controlling a movement of the mobile element (60) on the basis of the set-point signal (E) and at least one of the position-measurement signals (A, B), the method being characterised in that when the deviation between the position-measurement signals (A, B) crosses (201) a predetermined threshold, said method comprises the following steps: setting (202) the control signal (S) to a constant value so as to immobilise the mobile element (60), for each of the two measurement signals (A, B), calculating an interval of positions associated with the measurement signal (A), and detecting an output of the value of a measurement signal (A) outside the associated interval while the control signal (S) is set to the constant value.