A machining step monitoring apparatus includes a data segmentation unit, a data length adjuster, and a determination processor. The data segmentation unit defines machining start time and machining end time of each single cycle, and segments, from a first physical quantity that temporally changes during the cycle machining in the machining machine, first measurement data indicating the first physical quantity from the machining start time to the machining end time for each single cycle. The data length adjuster generates the second measurement data by adjusting the data length of the first measurement data to match with the data length of the determination reference data indicating, as a reference, a change in the first physical quantity during the single cycle when the machining machine is normally operating. The determination processor compares the second measurement data with the determination reference data to determine whether the machining machine is normally operating.

A machining step monitoring apparatus includes a data segmentation unit, a data length adjuster, and a determination processor. The data segmentation unit defines machining start time and machining end time of each single cycle, and segments, from a first physical quantity that temporally changes during the cycle machining in the machining machine, first measurement data indicating the first physical quantity from the machining start time to the machining end time for each single cycle. The data length adjuster generates the second measurement data by adjusting the data length of the first measurement data to match with the data length of the determination reference data indicating, as a reference, a change in the first physical quantity during the single cycle when the machining machine is normally operating. The determination processor compares the second measurement data with the determination reference data to determine whether the machining machine is normally operating.

The invention relates to a method for ascertaining a rough trajectory from a specified contour for controlling a machine tool which has at least two mutually redundant drive devices for carrying out superimposed movements, wherein the contour is determined by a contour function which is defined in portions at least by contour nodal points P.sub.0-P.sub.n+1 with ascending indices and contour portion functions p.sub.0-p.sub.n assigned to the contour nodal points P.sub.0-P.sub.n+1 and has a contour starting nodal point P.sub.0, wherein the rough trajectory is determined by a rough trajectory function which is defined in portions by rough trajectory nodal points Q.sub.0 to Q.sub.n+1 with ascending indices and has a rough trajectory starting nodal point Q.sub.0, wherein the rough trajectory starting nodal point Q.sub.0 is equated to the contour starting nodal point P.sub.0 and then in a first iteration step, on the basis of the contour nodal points P.sub.j to P.sub.n+1, the index value k of which is greater than or equal to the index value j of the respective rough trajectory starting nodal point that contour nodal point P.sub.k which has the smallest possible index value k and the distance of which from the rough trajectory starting nodal point Q.sub.j still just satisfies a specified distance condition is ascertained, and in a second iteration step, a respective following rough trajectory nodal point Q.sub.j+1 which follows the respective rough trajectory starting nodal point Q.sub.j and lies on a connecting line between Q.sub.j and P.sub.k or between Q.sub.j and a centroid of the portion contour P.sub.j to P.sub.k is ascertained.

The invention relates to a method for ascertaining a rough trajectory from a specified contour for controlling a machine tool which has at least two mutually redundant drive devices for carrying out superimposed movements, wherein the contour is determined by a contour function which is defined in portions at least by contour nodal points P.sub.0-P.sub.n+1 with ascending indices and contour portion functions p.sub.0-p.sub.n assigned to the contour nodal points P.sub.0-P.sub.n+1 and has a contour starting nodal point P.sub.0, wherein the rough trajectory is determined by a rough trajectory function which is defined in portions by rough trajectory nodal points Q.sub.0 to Q.sub.n+1 with ascending indices and has a rough trajectory starting nodal point Q.sub.0, wherein the rough trajectory starting nodal point Q.sub.0 is equated to the contour starting nodal point P.sub.0 and then in a first iteration step, on the basis of the contour nodal points P.sub.j to P.sub.n+1, the index value k of which is greater than or equal to the index value j of the respective rough trajectory starting nodal point that contour nodal point P.sub.k which has the smallest possible index value k and the distance of which from the rough trajectory starting nodal point Q.sub.j still just satisfies a specified distance condition is ascertained, and in a second iteration step, a respective following rough trajectory nodal point Q.sub.j+1 which follows the respective rough trajectory starting nodal point Q.sub.j and lies on a connecting line between Q.sub.j and P.sub.k or between Q.sub.j and a centroid of the portion contour P.sub.j to P.sub.k is ascertained.

Provided is an interpolation technique in which command values chronologically input can be interpolated without increasing a jerk and with less follow-up delay with respect to a command. A control unit (10) of a servo driver (20) has a function of sequentially generating, on the basis of four command values from x(k−2) to x(k+1), a kth interpolation function for calculating command values in a kth (≥3) time interval and a function of generating, as the kth interpolation function, a fifth-order equation with respect to time in which function values at a start time and an end time of the kth time interval match x(k) and x(k+1), respectively, and in which a second derivative value at a start time of the kth time interval matches a second derivative value at an end time of a (k−1)th time interval corresponding to a (k−1)th interpolation function.

The numerical controller of the invention receives input of a technique for operating a plurality of tools and an operation condition of the operation technique, calculates movement command data including speed information and position information on the plurality of tools, such that respective cutting paths of the plurality of tools intersect, based on the input operation method and operation condition, generates interpolation data based on the movement command data, and controls a motor for driving a machine based on the interpolation data.

A technique for providing reliable control of a robot (304) in a cloud robotics system (300) is disclosed. A computing unit configured to execute a concealment component (100) for concealing delayed or lost commands sent to the robot (304) by a robot controller (302) in the cloud robotics system (300) comprises at least one processor and at least one memory, wherein the at least one memory contains instructions executable by the at least one processor such that the concealment component (100) is operable to detect a missing command expected to be received by the robot (304) from the robot controller (302), the missing command detected based on a delay or loss of the command in a communication path between the robot (304) and the robot controller (302), generate a substitutional command corresponding to an expected instruction of the missing command, and send the substitutional command to the robot (304).

A curve fitting method, apparatus and device based on a drawing tool for improving the accuracy of curve fitting. The method includes: determining a fitting area containing the original curve, in the fitting area, performing at least one sub-fitting operation on the original curve until the end condition of the curve fitting is satisfied, and generating a fitting curve corresponding to the original curve based on the fitting curve corresponding to each sub-fitting operation. This method can fit the original curve segments in the fitting area, which improves the accuracy of the obtained fitting curve.

A controller of a machine tool acquires coordinates of a first machining start point of an eccentric shape in a reference phase of a workpiece around a spindle axis, a second machining start point in an anti-phase, a first machining end point in the reference phase, and a second machining end point in the anti-phase. The controller decides a moving path of the tool in association with rotation of the workpiece at least according to the coordinates of the first start point, the second start point, the first end point, and the second end point to form the eccentric shape around an eccentric axis passing a start point origin between the first start point and the second start point and an end point origin between the first end point and the second end point and thereby controls movement of the tool in association with rotation of the workpiece.

A numerical controller controls a motor for driving at least one axis based on a machining program including information about a characteristic shape. The numerical controller includes: a characteristic shape reading unit configured to read information about a characteristic shape to be machined from a machining program including information about a characteristic shape; a section setting unit configured to set one or more set sections on a tool path is response to the information about the characteristic shape; and a motion parameter change unit configured to change at least one parameter to be used for controlling the at least ore axis outside the set section and inside the set section.