A speed adjustment support device calculates a jerk per unit time based on a difference in acceleration for each axis of an industrial machine between control cycles, compares the calculated jerk with an allowable jerk for each axis stored in advance, produces exceedance information including at least an exceeding state and an improvement means in a case of jerk exceedance as a result of the comparison, and supports work of adjusting a parameter related to speed of the industrial machine based on the exceedance information.

A method for operating a numerically controlled production machine includes defining a permissible value range determined by the design and construction of the production machine in which, in a normal operation during production of a workpiece, values representing a mechanical or electrical load described by acceleration and/or jolting of at least one component of the numerically controlled production machine are variable, and activating, for producing the workpiece, with a control signal a conservation operation for reducing the mechanical or electrical loads, wherein in the conservation operation the values of acceleration and/or jolting of the at least one component are variable within a part value range that is limited in comparison to the permissible value range.

In a method for operating an at least two-axle machine tool, a geometric description of a path is specified, and according to the path, an advancing movement is carried out by simultaneously moving at least in one section a first axle and a second axle. A first maximum value for a first kinematic parameter relating to the advancing movement along the section of the path is defined by a control unit based on the geometric description. The advancing movement along the section is planned by the control unit by taking the first maximum value into consideration, and the axles are actuated so as to carry out the advancing movement according to the planned movement.

A numerical control device according to the present invention is for a machine tool which causes a tool to move along a movement path decided according to a machining program, and includes: a limit setting storage unit in which limit values of a plurality of parameter related to movement of the tool are set; a limit velocity calculation unit which calculates a plurality of limit velocities which are movement velocities of the tool, which respectively correspond to the limit values of the plurality of parameters at each position of the movement path; a feedrate determination unit which defines a minimum value among an ideal velocity of the tool and the plurality of limit velocities at each position on the movement path as a feedrate of the tool at each position on the movement path; and an adjustment effect calculation unit which calculates variation in movement time required in order to cause the tool to move an entirety of the movement path at the feedrate, in a case of changing the limit value of the parameter.

A method of controlling a robot having a plurality of joints includes measuring load torque applied to a driving-force transmission system of each of the plurality of joints while moving a hand of the robot along a predetermined path, comparing a measurement value of the load torque and an allowable range of each of the joints, and controlling a rate of change in acceleration of the driving-force transmission system of each of the joints, depending on a comparison result, in a next operation in which the hand of the robot is moved along the predetermined path.

In a method for operating an at least two-axle machine tool, a geometric description of a path is specified, and according to the path, an advancing movement is carried out by simultaneously moving at least in one section a first axle and a second axle. A first maximum value for a first kinematic parameter relating to the advancing movement along the section of the path is defined by a control unit based on the geometric description. The advancing movement along the section is planned by the control unit by taking the first maximum value into consideration, and the axles are actuated so as to carry out the advancing movement according to the planned movement.

A numerical control device according to the present invention is for a machine tool which causes a tool to move along a movement path decided according to a machining program, and includes: a limit setting storage unit in which limit values of a plurality of parameter related to movement of the tool are set; a limit velocity calculation unit which calculates a plurality of limit velocities which are movement velocities of the tool, which respectively correspond to the limit values of the plurality of parameters at each position of the movement path; a feedrate determination unit which defines a minimum value among an ideal velocity of the tool and the plurality of limit velocities at each position on the movement path as a feedrate of the tool at each position on the movement path; and an adjustment effect calculation unit which calculates variation in movement time required in order to cause the tool to move an entirety of the movement path at the feedrate, in a case of changing the limit value of the parameter.

Described is a method and device of a computational motion engine iteratively computing a numerical jerk, the motion derivative of acceleration, using real-time feedback from a system under motion control, to reach both a desired position and desired velocity of a next waypoint. Output from the motion engine is only desired acceleration, which is then passed to a motor driver, free of intermediate computations of either position or velocity. A second, inside feedback loop maintains desired acceleration or torque at the motor shaft based on the acceleration output of the motion engine, which may use non-linear correction tables. Waypoints comprising both position and velocity are inputs to the motion engine. Time to next waypoint is computed rather than provided as an input. Optimization of moves to the next waypoint is based on smoothest velocity change during the move. Embodiments include mechanical, two-axis SCARA arm motion systems.

A method of controlling a robot having a plurality of joints includes measuring load torque applied to a driving-force transmission system of each of the plurality of joints while moving a hand of the robot along a predetermined path, comparing a measurement value of the load torque and an allowable range of each of the joints, and controlling a rate of change in acceleration of the driving-force transmission system of each of the joints, depending on a comparison result, in a next operation in which the hand of the robot is moved along the predetermined path.

A wire electrical discharge machine includes: a supporting member for relatively moving a wire electrode relative to a measurement target; servomotors for moving the supporting member; a setting changer for changing the setting of a directive speed; and a motor controller that controls the servomotors in performing move-and-contact detection for detecting contact between the wire electrode and the measurement target by moving the two relative to each other, so that the wire electrode is moved relative to the measurement target based on the directive speed changed and specified by the setting changer.