A method for dynamically compensating angle errors when operating a machine tool that includes at least one fixture for a workpiece, in or on which a workpiece can be secured, at least one toolholder, in or on which a tool, in particular a drill, can be secured and can be rotationally driven by a rotational drive of the toolholder. The rotational drive including at least one horizontal drive by which the toolholder — for purposes of machining the workpiece —can execute movements in at least one horizontal plane of the machine tool. The machine tool further includes at least one vertical drive by which the toolholder can execute movements in a vertical direction of the machine tool, and at least one controller to which the rotational drive, the horizontal drive, and the vertical drive are functionally assigned.

A conveying apparatus that facilitates setting of an operation mode and setting of appropriate conditions during teaching is provided. An input determination section determines whether or not a combination of a conveyable weight and an operation mode input from an input portion is appropriate. A motor parameter determination section determines one or more motor parameters of at least one servoamplifier for one or more servomotors based on the operation mode and the conveyable weight determined as appropriate by the input determination section. The one or more motor parameters include a maximum speed and a maximum acceleration of the one or more servomotors. A parameter change section allows a speed and an acceleration of the one or more servomotors to be changed up to the maximum speed and the maximum acceleration, respectively.

A device and method of iterative motion control is described using a non-linear table in a feedback loop to convert a desired acceleration input to motor drive outputs, where the motor is part of a controlled motion system. The table may be a two- or three-dimensional table additionally responsive to the current system state, such as shaft speed, position, or phase angle. The motor may be a two-coil stepper motor where the corrected non-linearity serves the purpose of maintaining desired toque. Inputs may be waypoints comprising both a target position and target velocity. The motion system may use an inverted SCARA arm. Up to three non-linear correction tables may be used: a first corrects motor steps to a more accurate shaft angle; a second corrects motor drive signals to achieve desired torque; a third correct motor drive signals responsive to shaft speed. Tables may be generated by a series of motion passes using a fixed shaft offset angle for each pass.

A device and method of iterative motion control is described using a non-linear table in a feedback loop to convert a desired acceleration input to motor drive outputs, where the motor is part of a controlled motion system. The table may be a two- or three-dimensional table additionally responsive to the current system state, such as shaft speed, position, or phase angle. The motor may be a two-coil stepper motor where the corrected non-linearity serves the purpose of maintaining desired toque. Inputs may be waypoints comprising both a target position and target velocity. The motion system may use an inverted SCARA arm. Up to three non-linear correction tables may be used: a first corrects motor steps to a more accurate shaft angle; a second corrects motor drive signals to achieve desired torque; a third correct motor drive signals responsive to shaft speed. Tables may be generated by a series of motion passes using a fixed shaft offset angle for each pass.

The present invention provides an actuator including a motor; a lead screw rotating by coupling to the motor; a nut part moving forward or backward by coupling to the lead screw; a magnet coupled to the nut part; a sensor unit configured to sense a change amount of magnetic flux depending on a position of the magnet and convert the sensed change amount of magnetic flux into measured voltage data; and a control unit controlling the motor; wherein the magnet comprises a first pole and a second pole arranged in order in the movement direction of the nut part, wherein, if the sensor unit senses the first pole when the nut part is moved forward, the control unit performs a first motion in which a forward movement of the nut part is stopped and moves the nut part backward, and if the sensor unit senses the second pole after the first motion, the control unit performs a second motion in which the movement of the nut part is stopped and moves the nut part forward.

The present invention provides an actuator including a motor; a lead screw rotating by coupling to the motor; a nut part moving forward or backward by coupling to the lead screw; a magnet coupled to the nut part; a sensor unit configured to sense a change amount of magnetic flux depending on a position of the magnet and convert the sensed change amount of magnetic flux into measured voltage data; and a control unit controlling the motor; wherein the magnet comprises a first pole and a second pole arranged in order in the movement direction of the nut part, wherein, if the sensor unit senses the first pole when the nut part is moved forward, the control unit performs a first motion in which a forward movement of the nut part is stopped and moves the nut part backward, and if the sensor unit senses the second pole after the first motion, the control unit performs a second motion in which the movement of the nut part is stopped and moves the nut part forward.

When a command for outputting a movement amount at a specific reference value is included in a command block, a numerical controller which controls a position of a control axis in synchronization with a reference value by using tabular data registers the reference value and the movement amount of the command in a shift table while associating the reference value with the movement amount. Then, when the current reference value reaches the reference value registered in the shift table, the numerical controller superposes the movement amount of the control axis that is associated with the reference value in the shift table on a distributed movement amount to the control axis, and outputs the superposed movement amount as a movement amount of the control axis.

The present invention provides a linear actuator including a motor; a linear driving unit coupled to the motor and including a magnet; a sensor unit configured to sense a change amount of magnetic flux depending on a position of the magnet and convert the sensed change amount of magnetic flux into measured voltage data; a data unit in which reference voltage data corresponding to the change amount of magnetic flux depending on a position of the magnet is stored; and a judging unit configured to compare the reference voltage data with the measured voltage data at the corresponding position of the magnet. The present invention is advantageous in that, by compensation-controlling a position of the motor, feedback control may be performed in the step motor to secure performance of the product to which the present invention is applied.