Respective amounts of movement of feed axes corresponding to first and second position controllers are determined, and if a value obtained by dividing a smaller amount of movement by a larger amount of movement, in the two amounts of movement, falls within a prescribed reference range, a position controller for the feed axis with the smaller amount of movement selects a detected motor position as a position feedback value and a position controller for the other feed axis selects a detected object position as a position feedback value.

A numerical controller, which is configured to correct a machine position error based on a torque difference between a master axis and a slave axis, acquires the torque difference after movement of the master and slave axes that move in response to a movement command, and corrects the machine position error by a correction amount based on a value obtained by excluding a torque difference derived from a mechanical strain from the acquired torque difference. The corrected machine position error is added to the movement command for next time.

The present invention is provided with: first and second bases, which are guided by a guide rail to thereby linearly move; a linear scale provided with graduations at predetermined pitches in the moving direction; and first and second encoder heads attached to the first and second bases. In the present invention, while maintaining, at a predetermined interval a, a distance between the first and second encoder heads, and moving the first and second bases along the guide rail, first and second graduation numbers, at which the first and second encoder heads are positioned, are sequentially detected from the first and second encoder heads, and the amount of movement of the first and second bases is controlled on the basis of the ratio between the predetermined interval a and the distance on the scale between the first graduation numbers and the second graduation numbers.

A control device for a machine, with at least one axis, is configured to accept first parameters and to render a first general technological problem as a first specific technological problem. The control device is configured to determine once in advance, for a sequence of values of a position or a temporal derivation of the position of the axis of the machine, a number of variables assigned to the respective value, to solve the first specific technological problem in an optimum way. The control device is configured to store the assigned variables in a memory and, after the storage of the assigned variables, is configured to accept a first execution command. Based upon the first execution command, it is configured to output the sequence of values to the axis and during output, is configured to activate the machine in accordance with the number of variables assigned to the respective value.

A first drive operates directly on a machine element, whereas a second drive operates on a machine element via a speed-changing device. A position controller receives a position setpoint value and a position actual value of the machine element and determines therefrom a speed setpoint value for the machine element. A first determining device receives the speed setpoint value and determines a resulting speed setpoint value using the speed setpoint value. A first speed controller determines a first force setpoint value from the resulting speed setpoint value and the speed actual value of the machine element and controls the first drive depending on the first force setpoint value. A second speed controller determines a second force setpoint value from the resulting speed setpoint value and the speed actual value of the second drive and controls the second drive depending on the force setpoint value.

A numerical controller includes a movement plane acquisition unit configured to accept designation of a movement plane in a machine coordinate system, a machine coordinate conversion unit configured to convert a coordinate value in the machine coordinate system into an image coordinate system, an image coordinate conversion unit configured to convert a coordinate value in the image coordinate system into the machine coordinate system, an operation target position acquisition unit configured to acquire position information on an operation target, an operation icon display unit configured to display an operation icon corresponding to the position information, a slide position acquisition unit configured to acquire a slide position, a movement amount calculation unit configured to calculate an axial movement amount, and an axial movement unit configured to move the operation target according to the axial movement amount.

A virtual object is displayed with a simple method. A graph generation portion generates, as the machine configuration of a control target, a graph in which constituent elements including a camera are nodes, a node selection portion selects a node on which a virtual object is desired to be displayed, a selection node notification portion notifies the node on which the virtual object is desired to be displayed to a machine configuration management device, a transformation information calculation portion calculates transformation information which includes, as a variable, a coordinate value of a control axis node on a path in the graph from a camera node to the node of a display target and which is used for calculating the position and/or the posture of the node of the display target in a coordinate system of the camera node based on the graph, a transformation information notification portion notifies the transformation information to an augmented information controller and a coordinate information transformation portion transforms the coordinate value of a control axis which is notified into the position and/or the posture of the node of the display target in the coordinate system of the camera node.

A linear drive system provides a combination of distributed control to increase the number of movers which may be supported in the system and centralized control to reduce the separation distance between movers by grouping movers together and placing a reference mover of the group under central control with remaining movers of the group under distributed control. In addition, in precise working locations, or synchronization zones, each of the movers can be temporarily placed under central control to further reduce the separation distance and allow improved coordination with industrial processes or machines in the system.

Respective amounts of movement of feed axes corresponding to first and second position controllers are determined, and if a value obtained by dividing a smaller amount of movement by a larger amount of movement, in the two amounts of movement, falls within a prescribed reference range, a position controller for the feed axis with the smaller amount of movement selects a detected motor position as a position feedback value and a position controller for the other feed axis selects a detected object position as a position feedback value.

A numerical controller includes a movement plane acquisition unit configured to accept designation of a movement plane in a machine coordinate system, a machine coordinate conversion unit configured to convert a coordinate value in the machine coordinate system into an image coordinate system, an image coordinate conversion unit configured to convert a coordinate value in the image coordinate system into the machine coordinate system, an operation target position acquisition unit configured to acquire position information on an operation target, an operation icon display unit configured to display an operation icon corresponding to the position information, a slide position acquisition unit configured to acquire a slide position, a movement amount calculation unit configured to calculate an axial movement amount, and an axial movement unit configured to move the operation target according to the axial movement amount.