The invention relates to a transport system, in particular to a multi-carrier system, comprising a central control; a plurality of drive units, wherein the drive units are coupled to the central control by means of a data link; and a plurality of transport elements that are movable by means of the drive units, wherein he central control is configured to communicate control commands to the drive units, with the control commands causing the drive units to make a movement of the transport elements in dependence on the control commands. The transport system in accordance with the invention is characterized in that at least two of the drive units, preferably all the drive units, receive the same control commands.

In a quick measurement module provided by the present invention, a first distance sensing unit and a second distance sensing unit are provided individually on a movable seat, so that when the movable seat is displaced along a linear shifting axis, the first distance sensing unit senses the distance from the first reference plane, and meanwhile, the second distance sensing unit senses the distance from the second reference plane, so as to sense the linearity accuracy in movement of the movable seat with respect to the first reference plane and the second reference plane. The first reference plane and the second reference plane are spaced apart by an angle other than a right angle, so that the linearity accuracy in movement in the two different planes, such as the horizontal linearity accuracy and vertical linearity accuracy, of the movable seat can be obtained through sensing.

In a quick measurement module provided by the present invention, a first distance sensing unit and a second distance sensing unit are provided individually on a movable seat, so that when the movable seat is displaced along a linear shifting axis, the first distance sensing unit senses the distance from the first reference plane, and meanwhile, the second distance sensing unit senses the distance from the second reference plane, so as to sense the linearity accuracy in movement of the movable seat with respect to the first reference plane and the second reference plane. The first reference plane and the second reference plane are spaced apart by an angle other than a right angle, so that the linearity accuracy in movement in the two different planes, such as the horizontal linearity accuracy and vertical linearity accuracy, of the movable seat can be obtained through sensing.

Device for cutting double curvature surfaces into expanded polystyrene foam volumes comprising a first pair of linear guides; over each of the linear guides two pairs of plates arranged over skids are moving, where a horizontal beam connects each pair of plates; the two pairs of plates and the pair of horizontal beams; a block of material supported on the plates is displaced by a first pair by of step motors simultaneously activated; where the block of material in its movement faces a rectangular frame which is arranged perpendicularly to the movement path of the block, with the rectangular frame having a fixed position and a flexible foil, which is covered with a sheath of thermal and electrical insulation, over which a resistive heating wire is helically wound where electrical current heats the wire and vaporizes the zone previous to physical contact with the block of material during displacement.

A numerical control apparatus that is a selection apparatus causes, when an automatic lathe that fabricates a workpiece from a bar is unable to fabricate a workpiece that is a fabrication target from a remaining material that is a remaining part of the bar being machined, the automatic lathe to select another workpiece that the automatic lathe is able to fabricate from the remaining material. The numerical control apparatus includes a selection unit to select, when there are a plurality of other workpieces that are able to be fabricated from the remaining material, a workpiece to be fabricated on the basis of a length of the remaining material and priority.

A numerical control apparatus that is a selection apparatus causes, when an automatic lathe that fabricates a workpiece from a bar is unable to fabricate a workpiece that is a fabrication target from a remaining material that is a remaining part of the bar being machined, the automatic lathe to select another workpiece that the automatic lathe is able to fabricate from the remaining material. The numerical control apparatus includes a selection unit to select, when there are a plurality of other workpieces that are able to be fabricated from the remaining material, a workpiece to be fabricated on the basis of a length of the remaining material and priority.

A workpiece simulation part estimates the amount of movement of the workpiece from drive information and estimates the current position of the workpiece by adding the amount of movement to the previous position of the workpiece, the drive information being generated for, among at least one actuator, an actuator that is assumed to constrain the workpiece under the constraint conditions. A sensor simulation part uses the current position of the workpiece to generate sensor simulation information. An input/output switching part transmits the drive information to the workpiece simulation part and transmits the sensor simulation information as alternate information of the sensor information to the control-program execution part.

A workpiece simulation part estimates the amount of movement of the workpiece from drive information and estimates the current position of the workpiece by adding the amount of movement to the previous position of the workpiece, the drive information being generated for, among at least one actuator, an actuator that is assumed to constrain the workpiece under the constraint conditions. A sensor simulation part uses the current position of the workpiece to generate sensor simulation information. An input/output switching part transmits the drive information to the workpiece simulation part and transmits the sensor simulation information as alternate information of the sensor information to the control-program execution part.

An example actuator control system includes an actuator, a plurality of motors configured to cooperatively operate the actuator, and a controller. The controller is configured to determine an output signal for controlling active ones of the motors during a current update cycle based on a first gain value, an integral contribution from the current update cycle, and an integral contribution from a preceding update cycle. The controller is configured to, based on a quantity of the motors that is active differing between the current and preceding update cycles, scale the integral contribution from the preceding update cycle for the output signal determination based on the first gain value and a second gain value from the preceding update cycle. A method of controlling a plurality of actuator motors is also disclosed.

An example actuator control system includes an actuator, a plurality of motors configured to cooperatively operate the actuator, and a controller. The controller is configured to determine an output signal for controlling active ones of the motors during a current update cycle based on a first gain value, an integral contribution from the current update cycle, and an integral contribution from a preceding update cycle. The controller is configured to, based on a quantity of the motors that is active differing between the current and preceding update cycles, scale the integral contribution from the preceding update cycle for the output signal determination based on the first gain value and a second gain value from the preceding update cycle. A method of controlling a plurality of actuator motors is also disclosed.