The present invention corrects errors made by a machining tool having a discretionary machine configuration, by using a graph in which constituent elements serve as nodes. This control device comprises: a control point coordinate system insertion unit that inserts, as nodes, a control point and a coordinate system, for each node of a machine configuration graph; an identifier allocation unit that allocates an identifier to the inserted control points and coordinate systems; an error information storage unit that stores information relating to a machine error on a control subject, and the identifier allocated to the coordinate system in which the machine error was observed; an error node generation unit that converts the machine error to an equivalent error node; and an error node addition unit that adds the error node to the machine configuration graph.

The present invention corrects errors made by a machining tool having a discretionary machine configuration, by using a graph in which constituent elements serve as nodes. This control device comprises: a control point coordinate system insertion unit that inserts, as nodes, a control point and a coordinate system, for each node of a machine configuration graph; an identifier allocation unit that allocates an identifier to the inserted control points and coordinate systems; an error information storage unit that stores information relating to a machine error on a control subject, and the identifier allocated to the coordinate system in which the machine error was observed; an error node generation unit that converts the machine error to an equivalent error node; and an error node addition unit that adds the error node to the machine configuration graph.

A rotation control unit performs a rotation process of rotating a servomotor which is connected to a device via a power transmission means. A waveform-data acquisition unit performs a waveform-data acquisition process of acquiring waveform data when the servomotor is rotated. A determination unit performs a determination process of determining whether or not rotation has been transmitted to the device when the servomotor is rotated, based on the waveform data. A calculation unit ends a repetition process of repeating a search process, the search process being constituted by the rotation process, the waveform-data acquisition process, and the determination process, when it is determined that the rotation has been transmitted to the device, and calculates as a backlash amount, a sum of a rotation amount in the repetition process, the rotation amount being an amount by which the rotation control unit has rotated the servomotor in the rotation process.

A rotation control unit performs a rotation process of rotating a servomotor which is connected to a device via a power transmission means. A waveform-data acquisition unit performs a waveform-data acquisition process of acquiring waveform data when the servomotor is rotated. A determination unit performs a determination process of determining whether or not rotation has been transmitted to the device when the servomotor is rotated, based on the waveform data. A calculation unit ends a repetition process of repeating a search process, the search process being constituted by the rotation process, the waveform-data acquisition process, and the determination process, when it is determined that the rotation has been transmitted to the device, and calculates as a backlash amount, a sum of a rotation amount in the repetition process, the rotation amount being an amount by which the rotation control unit has rotated the servomotor in the rotation process.

Provided is a control device capable of automatically determining whether or not an inertia estimation function needs to be activated. The control device 10 is for an electric motor and comprises: a first inertia estimation unit 11 that estimates whether or not there has been a change in the inertia of an object to be driven, on the basis of at least one among first information pertaining to an operation program or operation settings for a device comprising the electric motor, second information obtained from a detection device for detecting the shape of the object to be driven by the electric motor, and third information indicating the operation state of the electric motor; and a second inertia estimation unit 12 that estimates the inertia of the object to be driven if the first inertia estimation unit 11 has estimated that there has been a change in the inertia of the object to be driven.

Provided is a control device for a machine tool, the control device being capable of more appropriately and easily determining a swing condition. A control device 10 for a machine tool for swinging a work piece and a tool relatively to each other to perform machining, the control device 10 comprising a storage unit 15 which stores correspondence between a machining condition and a swing condition, the machining condition being at least one of specifications of the work piece, specifications of the tool, a machining method and a machining shape, a swing condition determination unit 16 which selects a swing condition to be used for the machining on the basis of the correspondence stored in the storage unit 15, and a swing command generation unit 18 which generates a swing command on the basis of the swing condition selected by the swing condition determination unit 16.

Provided is a control device for a machine tool, the control device being capable of more appropriately and easily determining a swing condition. A control device 10 for a machine tool for swinging a work piece and a tool relatively to each other to perform machining, the control device 10 comprising a storage unit 15 which stores correspondence between a machining condition and a swing condition, the machining condition being at least one of specifications of the work piece, specifications of the tool, a machining method and a machining shape, a swing condition determination unit 16 which selects a swing condition to be used for the machining on the basis of the correspondence stored in the storage unit 15, and a swing command generation unit 18 which generates a swing command on the basis of the swing condition selected by the swing condition determination unit 16.

A method for backlash compensation in motion control systems includes homing a payload of a motion control system, and performing a tooth-pitch non-uniformity procedure on the motion control system to identify a non-uniformity correction. A backlash lookup table is generated for use in backlash correction during normal operation of the motion control system. The backlash lookup table is generated using a training process that includes selecting a move sequence for operating the motion control system, and executing the move sequence with the non-uniformity correction. The training process further includes computing a backlash measurement describing backlash of one or more components of the motion control system during the move sequence, and storing the backlash measurement in the backlash lookup table.

A method for backlash compensation in motion control systems includes homing a payload of a motion control system, and performing a tooth-pitch non-uniformity procedure on the motion control system to identify a non-uniformity correction. A backlash lookup table is generated for use in backlash correction during normal operation of the motion control system. The backlash lookup table is generated using a training process that includes selecting a move sequence for operating the motion control system, and executing the move sequence with the non-uniformity correction. The training process further includes computing a backlash measurement describing backlash of one or more components of the motion control system during the move sequence, and storing the backlash measurement in the backlash lookup table.

A process includes: (i) receiving image data, dividing a portion of the image data into a plurality of grids including a first grid, a second grid, a third grid, and a fourth grid, dividing the portion of the image data into a plurality of areas including (a) a first area including the first grid and the third grid, and (b) a second area including the second grid and the fourth grid; (ii) detecting an object relating to the first grid; and (iii) when the object is detected in the first grid, generating a signal for controlling discharge of fluid from a fluid discharging unit so that fluid flows through the first area including the first grid.