This servo system is a servo system in which a host apparatus and a plurality of servo amplifiers transmit and receive a communication signal. Each of the servo amplifiers includes a servo computation unit configured to perform servo computation processing, a communication unit configured to transmit and receive the communication signal, a storage unit configured to save servo computation information in the servo computation processing as history data, and a trigger information processor configured to set, in advance, a save stop condition for stopping saving the history data, determine, for each servo computation period, whether the save stop condition is matched, and notify, when the save stop condition is matched, the communication unit of a determination result indicating detection of a trigger as a trigger detection flag.

A system includes: a first unit including a first lighting section, a first control unit controlling the first lighting section, and a first switch that can toggle between lighting and extinguishing; a second unit including a second lighting section; and a first cable connecting the first unit and the second unit. The first control unit turns on the first lighting section and also turns on the second lighting section via the first cable when the first switch is toggled in a state where the first lighting section is off, and turns off the first lighting section and also turns off the second lighting section via the first cable when the first switch is toggled in a state where the first lighting section is on.

A controller that allows reteaching of a machine made up of a plurality of mechanisms to be easily performed is provided. The controller includes a machine position acquiring section that acquires the current positions of mechanisms, a reteach block search section that assigns rank order numbers to linkage information that indicates linkage between blocks of a plurality of machine control programs on the basis of relation between the current positions of the mechanisms and taught positions in blocks in the machine control programs that are indicated as being linked to one another by the linkage information, a search result output section that outputs blocks relating to the linkage information on the basis of the rank order numbers assigned by the reteach block search section, and a reteach result reflecting section that reflects, in blocks of the plurality of machine control programs that are selected as blocks to be retaught, the current positions of the mechanisms as positions to be retaught.

The present disclosure provides duplicate servo ID detection methods and a servo for a robot. One of the method includes: transmitting, by the main controller, a query instruction including a specific servo ID to at least two of the servos of the robot through a bus; differentiating feedback information replied by at least two of the servos corresponding to the specific servo ID; and determining, by the main controller, there being at least two of the servos with the same servo ID, if the feedback information not meeting a predetermined verification rule is received. Through the technical solution provided by this embodiment, the detection of duplicate servo ID can be realized, and the servos on the bus that have the same servo ID can be found so us to remind the user of the robot, thereby guaranteeing the normal operation of the robot.

A numerical controller includes one or more of a first reversing point detecting unit that detects a reversing point in an axis direction of a machine based on a machining program, a second reversing point detecting unit that detects a reversing point in the axis direction based on a position command, a third reversing point detecting unit that detects a reversing point in the axis direction based on a positional deviation or position feedback information of a servo control unit that controls a servomotor which drives the axis, and a fourth reversing point detecting unit that detects a reversing point in the axis direction based on positional information of a movable portion of the machine, and a drawing unit that generates an image superimposing a reversing point location detected by the one or more reversing point detecting unit on an image of a workpiece.

In a controller of a machine tool having a converter that converts an AC power supply to DC and a plurality of inverters that drive a feed axis and a spindle, a power outage preparation mode is judged when an AC power supply voltage becomes lower than a predetermined value, and power outage is judged when the power outage preparation mode continues for a time period exceeding a predetermined time period or when a DC voltage which is output from the converter becomes lower than V.sub.AL1. During the power outage preparation mode, a threshold V.sub.AL2 of a low voltage alarm provided at each inverter is changed to a value lower than V.sub.AL1. In addition, when the power outage is judged, a stopping operation or a retracting operation of the feed axis is executed.

The present disclosure provides a servo motion control method and apparatus, as well as a robot using the same. The method includes: obtaining position parameters of a plurality of control vertices of a servo in a constant speed motion; creating a first smooth trajectory equation of the servo to move from the starting point to the ending point based on the position parameters of the plurality of control vertices; and controlling the servo to move based on the first smooth trajectory equation. The present disclosure is capable of realizing the smooth control of the motion of the servo from a starting position to an ending position, and avoiding the severe impacts during starting and stopping which affect the stability of the servo while the servo is in a constant high-speed motion.

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 system determining whether the feed shafts are normal or abnormal, the system including: a command generation unit that moves the feed shafts in a forward direction at a predetermined speed from a lower limit value to an upper limit value of a range of feeding movement by the numerical controller; and a feed shaft abnormality determination unit that monitors a drive torque command during the movement of the feed shafts in the forward direction by the command generation unit, compares a monitoring result during the movement in the forward direction with a normal value of the drive torque command, determines that abnormality occurs when the drive torque command deviates from the normal value, and outputs the determination result.

The present invention provides a servo control system and a robot. The servo control system is applied to a servo, and includes a main control module including an angle information receiving terminal and a detection control terminal; and an angle collection module including a magnet and a magnetic encoding chip spaced apart from the magnet by a certain distance. The magnet is connected to a rotation output shaft of the servo. The magnetic encoding chip includes an angle information output terminal and a detection control receiving terminal. In the above manner, the present invention can accurately acquire position information of a servo.