A processing device is provided and electrically connected to a drive controller for driving a control object. The drive controller has a predetermined control structure that includes a feedback system and a control model part, and that enables model follow-up control according to the control models, and has the predetermined control structures corresponding to the control objects, respectively. The processing device determines a common control gain to set a predetermined control gain in the control model part of each predetermined control structure corresponding to the control objects to the common control gain for all the control model parts when synchronous control of the control objects is performed, and instructs the drive controller to set the common control gain for the control model part corresponding to each predetermined control structure.

A numerical controller includes a motion start point determination unit that calculates a cycle motion start point where the screw thread cutting cycle is to be started, an acceleration/deceleration control unit that moves the tool from the cycle motion start point to a screw thread cutting start point with motions of a plurality of axes overlapped, and a control unit that controls motions of a machining device based on control instructions received from an instruction analysis unit and the acceleration/deceleration control unit. The cycle motion start point is a point from which acceleration or deceleration of a first axis and a second axis orthogonal to the first axis is started so as to make a speed of the first axis reach a specified cutting feed speed and to make a speed of the second axis substantially become zero at time of arrival at the screw thread cutting start point.

A laser processing system includes redundant actuators positioning a laser spot on a workpiece. The system determines a first trajectory of the first actuator minimizing motion of the first actuator that positions the second actuator such that each point of the reference trajectory is within a range of the second actuator and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory. For each axis of control, the system determines an envelope centered on the reference trajectory with a width not greater than the range of the second actuator and determines shortest trajectory traversing the envelope along the time domain to produce the first trajectory. Hence, the first trajectory includes a set of straight segments satisfying the constraints defined by the shape of the envelope. The system includes controllers for control the motion of redundant actuators.

A laser processing system includes redundant actuators positioning a laser spot on a workpiece. The system determines a first trajectory of the first actuator minimizing motion of the first actuator that positions the second actuator such that each point of the reference trajectory is within a range of the second actuator and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory. For each axis of control, the system determines an envelope centered on the reference trajectory with a width not greater than the range of the second actuator and determines shortest trajectory traversing the envelope along the time domain to produce the first trajectory. Hence, the first trajectory includes a set of straight segments satisfying the constraints defined by the shape of the envelope. The system includes controllers for control the motion of redundant actuators.

A power tool includes an outer housing having a drive unit support portion and a handle portion, an inner housing positioned at least partially within the outer housing, and a drive unit positioned in the drive unit support portion, the drive unit including an output member. The power tool also includes a power screw mechanism with a nut fixed relative to the outer housing and a screw coupled for co-rotation with the output member and axially movable relative to the output member. The screw is in threaded engagement with the nut such that the screw moves axially in response to rotation of the screw relative to the nut. The power tool also includes a working assembly coupled to the inner housing for movement in response to axial movement of the screw.

The present disclosure relates to a critical point locking method of servos, including: computing a current target deviation according to a target position and an actual position, computing a variation value according to the current target deviation and a previous target deviation, determining whether the variation value being greater than a constraint value, modifying the current target deviation according to the current target deviation and a predetermined value upon determining the predetermined condition being satisfied, configuring the modified current target deviation as a current controlling deviation, and driving the servo to move toward the target position according the current controlling deviation. As such, the servo may lock the position for 360 degrees, the locking stroke of the servo may be improved, and the application of the servo may be enlarged.

The present disclosure relates to a critical point locking method of servos, including: computing a current target deviation according to a target position and an actual position, computing a variation value according to the current target deviation and a previous target deviation, determining whether the variation value being greater than a constraint value, modifying the current target deviation according to the current target deviation and a predetermined value upon determining the predetermined condition being satisfied, configuring the modified current target deviation as a current controlling deviation, and driving the servo to move toward the target position according the current controlling deviation. As such, the servo may lock the position for 360 degrees, the locking stroke of the servo may be improved, and the application of the servo may be enlarged.

Provided is a control device capable of shifting the movement path of automatic operation with respect to a given coordinate system of a machine configuration, without increasing the calculation load of interpolating processing. This control device comprises: a command analysis unit; an interpolation unit; a pulse generation unit; a graph generation unit that generates a graph indicating a machine configuration of a machining tool and/or a robot; a shift additional node specification unit that specifies any node of the graph, in order to add, to the node of the graph, shift information including an external movement amount inputted from outside; a shift information setting unit that sets, on the basis of the shift information, the shift information with respect to a position offset and/or an attitude offset of the specified node; and a kinematics conversion unit that, on the basis of the position offset and/or the attitude offset set to the node, converts a program coordinate value included in the movement command to a motor coordinate value.

Provided is a control device capable of shifting the movement path of automatic operation with respect to a given coordinate system of a machine configuration, without increasing the calculation load of interpolating processing. This control device comprises: a command analysis unit; an interpolation unit; a pulse generation unit; a graph generation unit that generates a graph indicating a machine configuration of a machining tool and/or a robot; a shift additional node specification unit that specifies any node of the graph, in order to add, to the node of the graph, shift information including an external movement amount inputted from outside; a shift information setting unit that sets, on the basis of the shift information, the shift information with respect to a position offset and/or an attitude offset of the specified node; and a kinematics conversion unit that, on the basis of the position offset and/or the attitude offset set to the node, converts a program coordinate value included in the movement command to a motor coordinate value.

A motor controller which controls a servo motor for driving a machine, includes: a speed command unit which commands the speed of the machine; a speed detection unit which detects the speed of the servo motor; and a speed control unit which produces a torque command based on a speed command and a motor speed detected so as to control the speed of the servo motor, where the speed control unit includes a filter which approximates the inverse characteristic of a transmission characteristic from the servo motor to the machine, the filter has a transmission characteristic F(s) based on a frequency , a vibration damping coefficient and a cutoff frequency .sub.adj which are adjustment parameters and the frequency is adjusted so as to be equal to or more than an antiresonant frequency .sub.0 of the machine but less than a resonant frequency .sub.p.