A system and method for a self-contained modular manufacturing device having self-contained modular tools configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of control the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, individual processors disposed in the housing may be configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system.

A position control apparatus includes an inversion detector which detects an inversion of a position command and generates an inversion detection signal, a deflection characteristic storage unit which stores a deflection characteristic representing an amount of deflection with respect to a torque command, and an inversion correction calculator which calculates an inversion correction amount. The inversion correction calculator stores a torque command immediately before the inversion, and calculates the inversion correction amount from a difference between an amount of deflection immediately before inversion in which the stored torque command is checked with the deflection characteristic, and an amount of deflection after the inversion in which a value obtained by inverting a sign of the stored torque command is checked with the deflection characteristic. A value obtained by adding the inversion correction amount to the position command value is used for position error calculation.

A numerical controller controls a machine tool that measures a coordinate value of an object to be measured based on a position of a movable axis controlled by a manual operation. The numerical controller stores a plurality of pieces of history information formed by associating the coordinate value of the movable axis and an elapsed time from a reference time point when the coordinate value is acquired, analyzes timing when position adjustments of the movable axis are completed based on the stored history information, and sets the coordinate value of the movable axis at the analyzed timing.

A band saw machine includes a working platform, a cutting machine, a vertical displacement element causing the cutting machine to move vertically, a height sensor and a central processor. The working platform includes a reference plane for placing a workpiece. The cutting machine includes a driving wheel, a driven wheel, a band saw wound on the driving wheel and the driven wheel, and a motor that electrically drives the driving wheel. The band saw includes a starting cutting tooth and a processing cutting tooth sequentially arranged. The height sensor detects a starting cutting point of the workpiece farthest from the reference plane. The central processor receives information of a position of the starting cutting point, and controls a displacement speed of the vertical displacement element and a first rotational speed of the motor to cause the starting cutting tooth to first cut at the starting cutting point.

A controller of a motor that drives a driven body includes: an inertia estimating unit that estimates inertia on the basis of feedback information (torque and current) of the motor; a computing unit that computes an acceleration or deceleration time constant of the motor from the estimation inertia estimated by the inertia estimating unit; a storage unit that stores an inertia difference which is a difference between the estimation inertia and at least one known actual inertia and a time constant difference which is a difference between an actual acceleration or deceleration time constant corresponding to the actual inertia and an acceleration or deceleration time constant calculated on the basis of the estimation inertia; and a correction unit that corrects the acceleration or deceleration time constant calculated by the computing unit using the inertia difference and the time constant difference stored in the storage unit.

An evaluation program creation device according to the present disclosure comprises a parameter acquisition unit that acquires a parameter relating to machining by an industrial machine, a shape selection unit that selects a machining shape necessary for evaluating the parameter on the basis of the acquired parameter, a dimension calculation unit that calculates the dimension of each part of the machining shape necessary for evaluating the parameter on the basis of the acquired parameter and the machining shape necessary for evaluation, a program creation unit that creates an evaluation program on the basis of the machining shape selected by the shape selection unit and the dimension of each part calculated by the dimension calculation unit, and a program output unit that outputs the evaluation program created by the program creation unit.

A machine tool is equipped with a rotary table, and a clamp mechanism which clamps the rotary table in a manner so that the rotary table does not rotate. A clamping operation by the clamp mechanism is started after a standby time has elapsed from completion of indexing of the rotary table. The machine tool further includes a positional deviation calculating unit adapted to calculate a positional deviation of the rotary table when the clamping operation by the clamp mechanism is completed, and a standby time changing unit adapted to shorten the standby time in the case that an absolute value of the positional deviation is less than a threshold value, and to lengthen the standby time in the case that the absolute value of the positional deviation is greater than the threshold value.

A numerical control device includes a CPU for outputting a position command value of a servomotor; an IC including a servo controller for outputting a current command value to an amplifier for driving the servomotor, and an I/O unit for inputting and outputting an external signal; a DSP for reading the position command value and performing control so as to move the servomotor to a position indicated by the position command value; and an inter-device communication path between the CPU and the IC. The IC includes an internal bus connected to a communication interface connected to the inter-device communication path, and the I/O unit; and an internal communication path for directly transmitting a signal between the servo controller and the I/O unit without passing through the internal bus.

A numerical controller of the invention includes a halt block specifying unit that specifies, from among blocks corresponding to unmachined sections of a machining program, a command block in which halting is allowed to occur as a halt block during an automatic operation of a machine tool, a halt position selecting unit that selects, as a position at which the automatic operation is halted, any one of a start point, an intermediate point, and an end point of the halt block, and a halting unit that halts the automatic operation at a position selected by the halt position selecting unit.

A system and method for a self-contained modular manufacturing device having self-contained modular tools configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of control the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, individual processors disposed in the housing may be configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system.