To provide a numerical controller that can produce high-quality machining with optimal machining conditions by reducing speed control abnormalities in order to stabilize feed rate, cutting speed and other factors. A numerical controller includes a speed reduction block detection unit that detects a speed reduction block that is a block at which the number of blocks to be looked ahead in a machining program relatively decreases, a speed information storage unit that calculates feed rate at each axis from a table feed rate at the speed reduction block and stores this speed information in a storage unit, and a speed information read unit that reads out the speed information from the storage unit and applies the speed information as the feed rate at each axis.

Provided is a highly safe robot system. A robot system includes: an arm operation control unit that controls operations of an arm; and a storage unit that records hazardous part information related to at least any one of a grip unit of the arm and a work target gripped with the grip unit, and the arm operation control unit causes the arm to operate such that the hazardous direction of the hazardous part is different from a moving direction of the grip unit on the basis of the hazardous part information.

A numerically controlled machine tool has at least one movement axis and is connected to a numerical controller which includes a parts program. Movements of each movement axis are limited by maximum permissible axis dynamics. The parts program has a sequence of instructions for machining a workpiece which specify different maximum desired speeds for the machining of the workpiece which change abruptly over time. The numerical controller approximates the different maximum desired speeds which change abruptly over time with a desired speed profile that is continuous over time and has a profile of the maximum desired speeds which is also continuous over time. The numerical controller uses the continuous desired speed profile to calculate the desired values of an actual movement profile of the movements for each movement axis.

There is provided a robot control apparatus that controls a vertical articulated robot and is suitable for direct teaching. In the apparatus, an axis setting section sets operation axes and control axes from among the axes subjected to angle control, when performing the direct teaching of changing a position of the arm tip, while retaining a posture thereof at a target posture. The operation axes can be dominant factors when determining the position of the arm tip and are allowed to freely move according to an external force, and the control axes can be dominant factors when determining the posture of the arm tip and are controlled by an angle control section. When performing the direct teaching, the angle control section receives an input of current angles of the operation axes and the target posture to calculate command angles of the respective control axes according to inverse kinematics calculation.

In a method for operating an at least two-axle machine tool, a geometric description of a path is specified, and according to the path, an advancing movement is carried out by simultaneously moving at least in one section a first axle and a second axle. A first maximum value for a first kinematic parameter relating to the advancing movement along the section of the path is defined by a control unit based on the geometric description. The advancing movement along the section is planned by the control unit by taking the first maximum value into consideration, and the axles are actuated so as to carry out the advancing movement according to the planned movement.

A vibration display device including a vibration acquisition unit that acquires a vibration state of a distal end section of a robot that is a robot in a simulation or in a real world, the distal end section being moved based on an operation program, and a vibration trajectory drawing unit that draws, on a display device, the vibration state along a trajectory of the distal end section of the robot or that draws, on the display device, the vibration state as the trajectory.

A controller outputs a first velocity (first limiting velocity) as a limiting velocity for a boom cylinder when a boom lowering operation amount is smaller than a first operation amount, and outputs a second velocity when the boom lowering operation amount is equal to or larger than the first operation amount. The first velocity is set to decrease according to a decrease in a target surface distance. The second velocity is defined by a weighted average of the first velocity and a third velocity (second limiting velocity) set to change according to one of the target surface distance and the boom lowering operation amount of the operation device, and is set such that an increase in the boom lowering operation amount reduces a weight for the first velocity while increasing a weight for the third velocity.

A numerical control device according to the present invention is for a machine tool which causes a tool to move along a movement path decided according to a machining program, and includes: a limit setting storage unit in which limit values of a plurality of parameter related to movement of the tool are set; a limit velocity calculation unit which calculates a plurality of limit velocities which are movement velocities of the tool, which respectively correspond to the limit values of the plurality of parameters at each position of the movement path; a feedrate determination unit which defines a minimum value among an ideal velocity of the tool and the plurality of limit velocities at each position on the movement path as a feedrate of the tool at each position on the movement path; and an adjustment effect calculation unit which calculates variation in movement time required in order to cause the tool to move an entirety of the movement path at the feedrate, in a case of changing the limit value of the parameter.

To provide a numerical controller that can produce high-quality machining with optimal machining conditions by reducing speed control abnormalities in order to stabilize feed rate, cutting speed and other factors. A numerical controller includes a speed reduction block detection unit that detects a speed reduction block that is a block at which the number of blocks to be looked ahead in a machining program relatively decreases, a speed information storage unit that calculates feed rate at each axis from a table feed rate at the speed reduction block and stores this speed information in a storage unit, and a speed information read unit that reads out the speed information from the storage unit and applies the speed information as the feed rate at each axis.

A method is provided for adjusting the setup of a handling machine, by a handling machine operator. The method includes the handling machine operator moving a control member in order to set a maximum speed of operation of said actuator or motor. A maximum speed setting made in the prior step is stored in a suitable memory integrated into a computer of a control station of the handling machine. The control station adjusts a work output of the handling machine to operate within the parameters of control law, the adjustment including the handing machine not exceeding the stored maximum operating speed or speeds.