A failure diagnostic device includes a torque detector that detects disturbance torques applied to joint shafts included in a multi-axis robot, a torque grouping circuit that groups the disturbance torques according to a content of an operation executed by the multi-axis robot upon detection of each disturbance torque, a torque correction circuit that obtains a corrected disturbance torque standardized between a plurality of operations with different contents based on a representative value preliminarily set for each grouped disturbance torque and the disturbance torque detected by the torque detector, and a failure diagnostic circuit that performs a failure diagnosis on the multi-axis robot by comparing the corrected disturbance torque with a threshold.

A method for estimating one or more process forces associated with a tool center point of a machine tool includes determining a first set of axis torques along the one or more axes of the machine tool based on a model associated with the machine tool or a first machining run without performing a machining operation, measuring a second set of axis torques along the one or more axes of the machine tool during machining, and determining the one or more process forces associated with the tool center point of the machine tool based on the first set and second set of axis torques. Accordingly, the current disclosure describes a method for estimating the process forces acting on the tool center point of the machine tool without using a forcing measuring cell or sensor at the tool center point.

A turning controller includes a storage, a working program processing device, a command value setting processing device, an approach angle setting command amount calculator, and a command processing device. The storage is configured to store a working program and tool shape data. The working program processing device is configured to analyze the working program and to calculate and output command amounts. The command value setting processing device is configured to set an approach angle command value for defining an approach angle. The approach angle setting command amount calculator is configured to calculate, as an approach angle setting command amount, a B-axis command amount for controlling to cause the approach angle to have the approach angle command value based on the tool shape data. The command processing device is configured to output the approach angle setting command amount to the B-axis driver.

The invention relates to a method for monitoring a machining tool that is used for machining primarily metal materials, comprising a cutting tool, wherein the cutting force, feed force, and passive force can be adjusted during machining, and comprising sensors to measure forces. In order that machining can be stopped 2 to 60 seconds, preferably 2 to 10 seconds, prior to failure of the cutting body, the invention proposes that the sensors continuously sense at least one of said forces during machining and machining is stopped if a sudden reduction in the sensed force occurs.

Provided is a driving apparatus for driving an object. The driving apparatus includes a driving device configured to displace the object; a detector configured to detect a displacement amount of the object by the driving device; and a controller configured to control the driving device based on an output of the detector. The controller is configured to obtain a thrust characteristic of the driving device with respect to the displacement amount and to set a reference with respect to the displacement amount based on the obtained thrust characteristic.