In a numerical control device 1 which controls positions of respective axes of a machine tool according to a machining program 11, a command 12 instructed to the machining program 11 is analyzed by an analyzing unit 13, thereby obtaining movement data 15 and a movement type 17, an acceleration-deceleration data selection unit 18 selects acceleration-deceleration data 19 according to the movement type 17, and an interpolation and acceleration-deceleration unit 16 generates a position command 21 by performing an interpolation on a movement route, which is instructed to the movement data 15, according to a command speed and performing acceleration-deceleration according to the acceleration-deceleration data 19.

Systems and methods to modify functions of computing devices based on movements and/or locations of users of such computing devices may include various types of sensors, such as movement sensors, imaging sensors, and location sensors. The sensor data may be processed by various algorithms to determine either or both of movement and location of the user within an environment. Then, based at least on the determined movement or location of the user, a particular function level may be selected for the computing device to ensure safety and environmental awareness of the user. In addition, one or more functions of the computing device may be modified, enabled, disabled, automated, alerted, or otherwise changed based on the selected function level.

A method for controlling an electric actuator may involve determining with a controller a manipulated variable T1 of an actuating motor, in order, starting from an actual position X as a state variable to reach a target position Xd. The method may further involve calculating a control value of the electric actuator based on the manipulated variable T1. The manipulated variable T1 of the actuating motor may be calculated by using a second time derivative of the target position d.sup.2Xd/dt.sup.2 and an achieved control change ΔX|.sub.τ−ΔX|.sub.0, wherein ΔX|.sub.τ=Difference target−actual position at time τ and ΔX|.sub.0=Difference target−actual position at time t=t0.

To simplify determination of drive parameters upon driving a motor for which circuit constants are unknown, and shorten the time required in determination. A parameter determination support device includes: an automatic measurement means for automatically measuring a D-phase current (A), DC link voltage (V) and Q-phase voltage command (%) of the motor drive device, as operating information upon driving the synchronous motor at a substantially constant speed under each condition of a first condition based on a base speed, and a second condition in which the D-phase current (A) of the motor drive device was changed from the first condition, according to the test-run program, by applying the initial parameter; an estimation means for estimating a short circuit current (Arms) and a D-phase inductance (mH), as circuit constants of the synchronous motor, based on the operating information; and a calculation means for performing calculation of an optimum parameter tailored to the output specification of the synchronous motor, based on the circuit constants.

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.

To simplify determination of drive parameters upon driving a motor for which circuit constants are unknown, and shorten the time required in determination. A parameter determination support device includes: an automatic measurement means for automatically measuring a D-phase current (A), DC link voltage (V) and Q-phase voltage command (%) of the motor drive device, as operating information upon driving the synchronous motor at a substantially constant speed under each condition of a first condition based on a base speed, and a second condition in which the D-phase current (A) of the motor drive device was changed from the first condition, according to the test-run program, by applying the initial parameter; an estimation means for estimating a short circuit current (Arms) and a D-phase inductance (mH), as circuit constants of the synchronous motor, based on the operating information; and a calculation means for performing calculation of an optimum parameter tailored to the output specification of the synchronous motor, based on the circuit constants.

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 numerical controller for controlling a machine tool including a spindle motor formed of an induction motor includes: a storage unit that stores a maximum acceleration at which the spindle motor can operate when a magnetic flux amount of the spindle motor reaches its maximum; a magnetic flux amount acquisition unit that acquires a present magnetic flux amount of the spindle motor; and an acceleration change unit that changes an acceleration of a position command based on a maximum acceleration of the spindle motor stored in the storage unit according to a magnetic flux amount at the start of movement of the spindle motor acquired by the magnetic flux amount acquisition unit when the spindle motor is operated by position control using a position command.

A numerical controller for controlling a machine tool including a spindle motor formed of an induction motor includes: a storage unit that stores a maximum acceleration at which the spindle motor can operate when a magnetic flux amount of the spindle motor reaches its maximum; a magnetic flux amount acquisition unit that acquires a present magnetic flux amount of the spindle motor; and an acceleration change unit that changes an acceleration of a position command based on a maximum acceleration of the spindle motor stored in the storage unit according to a magnetic flux amount at the start of movement of the spindle motor acquired by the magnetic flux amount acquisition unit when the spindle motor is operated by position control using a position command.