A numerical control system 1 comprises a numerical control device 5 for generating a machine tool command signal and a robot command signal, and a robot control device 6 for controlling the operation of a robot 3 on the basis of the robot command signal. The numerical control device 5 includes a coordinate form information management unit 524 for managing coordinate information according to a designated coordinate format that is based on a numerical control program, and a robot command signal generation unit 525 for generating the robot command signal on the basis of said coordinate information and a robot numerical control program. The robot control device 6 acquires a coordinate value on each axis of control in the designated coordinate format when the designated coordinate format is configured or changed, and transmits the same to the numerical control device 5 The coordinate form information management unit 524 updates said coordinate information using the coordinate value transmitted from the robot control device 6.

Provided is a numerical controller capable of efficient signal transmission and reception to and from a retrofitted PLC. A numerical controller includes a numerical control unit, a built-in PLC, and a retrofitted PLC operating at a predetermined control period different from those of the numerical control unit and the built-in PLC. The retrofitted PLC is configured to detect external triggers issued from the numerical control unit and the built-in PLC, execute a sequence processing for numerical control processing upon detection of the external trigger issued from the numerical control unit, and execute a sequence processing for built-in PLC processing upon detection of the external trigger issued from the built-in PLC.

Method for providing avoiding of excitations of oscillations of a measuring machine and/or for reducing or damping such oscillations by actively controlling a driving unit of the measuring machine or actively controlling an actuation of an additionally attached actuator. The method using information about an actual state of the measuring device, the actual state is derived based on a dynamic model and/or by use of a suitable sensor unit. A state controller, an actuator or a frequency-filtering element are used for counteracting or preventing oscillations.

A method for calibrating a system with a conveying apparatus and at least a first robot includes determining the positions of at least three measuring points of a first component transported by the conveying apparatus in a first transport position using the first robot. The method further includes determining the position of at least one of the measuring points in a second transport position using the first robot, or determining the positions of at least two of the measuring points of the component in a third transport position and the position of at least one other measuring point in the third transport position or at least one of these measuring points in a fourth transport position using at least one second robot.

A robot includes a robot control unit configured to control an operation of a robot, wherein the robot control unit is configured to set a coordinate system of the robot installed on a reference flat surface using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface on which the robot is installed and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.

Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.

Method for providing avoiding of excitations of oscillations of a measuring machine and/or for reducing or damping such oscillations by actively controlling a driving unit of the measuring machine or actively controlling an actuation of an additionally attached actuator. The method using information about an actual state of the measuring device, the actual state is derived based on a dynamic model and/or by use of a suitable sensor unit. A state controller, an actuator or a frequency-filtering element are used for counteracting or preventing oscillations.

Method for providing avoiding of excitations of oscillations of a measuring machine and/or for reducing or damping such oscillations by actively controlling a driving unit of the measuring machine or actively controlling an actuation of an additionally attached actuator. The method using information about an actual state of the measuring device, the actual state is derived based on a dynamic model and/or by use of a suitable sensor unit. A state controller, an actuator or a frequency-filtering element are used for counteracting or preventing oscillations.

Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.

Provided is a numerical controller capable of efficient signal transmission and reception to and from a retrofitted PLC. A numerical controller includes a numerical control unit, a built-in PLC, and a retrofitted PLC operating at a predetermined control period different from those of the numerical control unit and the built-in PLC. The retrofitted PLC is configured to detect external triggers issued from the numerical control unit and the built-in PLC, execute a sequence processing for numerical control processing upon detection of the external trigger issued from the numerical control unit, and execute a sequence processing for built-in PLC processing upon detection of the external trigger issued from the built-in PLC.