A tool for operating on a workpiece includes a motion actuator and a controller that responsively varies a speed of the motion actuator and an operating speed of a working surface. The controller is configured to respond to a derived force that is a function an applied force exerted by an operator to manageably adjust pressure on the working surface to achieve a rate of work. The controller changes simultaneously both a rate of work on the workpiece and the operating speed of the working surface according to a sensitivity profile. The simultaneous change of rate of work and operating speed is manageable under both acceleration and deceleration by the operator with the applied force. The sensitivity profile expresses a relationship of a monotonically increasing positive slope between the derived force and the operating speed of the working surface within the range.

A robot including a motor is used to machine a workpiece. The robot further includes the following components: a controller configured to output a speed command and commanded-position information; an encoder; a position sensor configured to output, as a differential signal, the amount of displacement of the position of the workpiece W from a predetermined position; a servo driver configured to control the motor upon receiving the speed command, the output signal of the encoder, and the differential signal; and a safety unit configured to detect a fault in the encoder. When controlling the motor based on the speed command, the output signal, and the differential signal, the servo driver sends the differential signal to the controller. The controller sends the safety unit new commanded-position information, which is generated by adding a correction value based on the differential signal to the commanded-position information.

A parameter setting device is configured to set a parameter relating to a speed of a table of a machine tool in accordance with the weight of an object placed on the table. The parameter setting device includes: an operation control unit configured to provide control such that the table is operated according to a predetermined operation; a positional change obtaining unit configured to obtain a positional change of the table; a storage unit that stores the parameter corresponding to the positional change caused when the table is operated according to the predetermined operation; and a parameter setting unit configured to set, by using the storage unit, the parameter based on the positional change obtained by the positional change obtaining unit when the operation control unit operates the table according to the predetermined operation.

A robot including a motor is used to machine a workpiece. The robot further includes the following components: a controller configured to output a speed command and commanded-position information; an encoder; a position sensor configured to output, as a differential signal, the amount of displacement of the position of the workpiece W from a predetermined position; a servo driver configured to control the motor upon receiving the speed command, the output signal of the encoder, and the differential signal; and a safety unit configured to detect a fault in the encoder. When controlling the motor based on the speed command, the output signal, and the differential signal, the servo driver sends the differential signal to the controller. The controller sends the safety unit new commanded-position information, which is generated by adding a correction value based on the differential signal to the commanded-position information.

A parameter setting device is configured to set a parameter relating to a speed of a table of a machine tool in accordance with the weight of an object placed on the table. The parameter setting device includes: an operation control unit configured to provide control such that the table is operated according to a predetermined operation; a positional change obtaining unit configured to obtain a positional change of the table; a storage unit that stores the parameter corresponding to the positional change caused when the table is operated according to the predetermined operation; and a parameter setting unit configured to set, by using the storage unit, the parameter based on the positional change obtained by the positional change obtaining unit when the operation control unit operates the table according to the predetermined operation.

A control device of a machine tool includes an oscillation command generation part which generates an oscillation command for at least one feed axis based on a rotation speed of a spindle and a position command of the at least one feed axis so that the oscillation command becomes a positive non-integral multiple of the rotation speed and a tool intermittently cuts a workpiece, an oscillation command correction part which corrects the oscillation command using the position of the feed axis, and an addition part which adds the oscillation command corrected by the oscillation command correction part to a position deviation between the position command and the detected position of the feed axis.

A control device for a machine tool includes an oscillation command generation part which generates an oscillation command for a fees axis, a first adding part which adds an oscillation command to a position deviation between a position command and the detected position of the fees axis to generate a resultant command, a normalization part for normalizing the resultant command, a learning control part that obtains a correction amount of the resultant command based on an oscillation phase obtained from the oscillation command and a normalized resultant command and which adds the correction amount to the resultant command, a denormalization part which denormalizes an output from the learning control part, and a second adding part for adding a denormalized output from the denormalization part to the resultant command.

A tool for operating on a workpiece includes a motion actuator and a controller that responsively varies a speed of the motion actuator and an operating speed of a working surface. The controller is configured to respond to a derived force that is a function an applied force exerted by an operator to manageably adjust pressure on the working surface to achieve a rate of work. The controller changes simultaneously both a rate of work on the workpiece and the operating speed of the working surface according to a sensitivity profile. The simultaneous change of rate of work and operating speed is manageable under both acceleration and deceleration by the operator with the applied force. The sensitivity profile expresses a relationship of a monotonically increasing positive slope between the derived force and the operating speed of the working surface within the range.

A device for cutting a workpiece along a cutting line between a first end point and a second end point including a saw head, comprising an advancing mechanism with a guide carriage and with an advancing motor. The saw head is arranged on the guide carriage movable along an advancing direction, including a sensor system with a sensor element for monitoring the saw head, the advancing mechanism or the work process, including a control unit with a control element to control the saw head, the advancing mechanism and the sensor system as well as an evaluation element to evaluate a measured quantity detected by the sensor system, including an operating device to operate the saw head and the advancing mechanism, and including a display. On the basis of the measured quantity, the control unit calculates the momentary work result which is shown on the display.

A control device for a machine tool includes an oscillation command generation part which generates an oscillation command for a fees axis, a first adding part which adds an oscillation command to a position deviation between a position command and the detected position of the fees axis to generate a resultant command, a normalization part for normalizing the resultant command, a learning control part that obtains a correction amount of the resultant command based on an oscillation phase obtained from the oscillation command and a normalized resultant command and which adds the correction amount to the resultant command, a denormalization part which denormalizes an output from the learning control part, and a second adding part for adding a denormalized output from the denormalization part to the resultant command.