A control apparatus of a machine tool including a feed axis, which is driven by a feed axis motor, includes a load torque estimation unit configured to estimate a load torque acting on a spindle motor, based on a torque command to the spindle motor which drives a spindle axis of the machine tool, and a speed of the spindle motor; and a speed control unit configured to control a speed of a feed axis motor such that the load torque estimated by the load torque estimation unit follows a prescribed load torque target value.

A robot control system according to an embodiment is a control system for a robot comprising an arm, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool. The robot control system comprises a load-acquiring unit and a control-signal-generating unit. The load-acquiring unit is configured to acquire a force measured by a force sensor configured to measure a force applied from the tool to the arm during profile copying performed on a machining object by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other. The control-signal-generating unit is configured to automatically control the arm by generating a control signal for the arm in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the control signal to the arm.

A tool load displaying method includes displaying tools specified by a machining program and selectively displaying at least one of machining processes which are specified by the machining program and each of which is performed by using each of the tools. Load information and values of machining parameters in a selected machining process selected among the at least one of machining processes displayed are displayed. A selected tool is selected among the tools. A first selection window showing at least one replacement tool replaceable with the selected tool is displayed so as to select a selected replacement tool among the at least one replacement tool. A second selection window showing at least one machining process performed by using the selected tool is displayed so as to select among the at least one machining process, at least one selected replacement-tool machining process to be performed by using the selected replacement tool.

A numerical controller decelerates a spindle feed rate in a bite portion to a bite velocity lower than a commanded feed rate when drilling is carried out and then, after passage through a velocity recovery point where a measured spindle load is made substantially constant, accelerates the spindle feed rate from the bite velocity to the commanded feed rate.

An embodiment of the present invention provides a system in which it is possible to control a movement speed of a machining unit such that a machining load value of the machining unit is maintained to be equal to or smaller than a reference machining load value, and thus it is possible to lower a defective rate of a machining target and to improve stability of a robot. According to an embodiment of the present invention, there is provided a robot system for adjusting a machining load depending on tool wear, the robot system including: a robot that is coupled to the machining unit, moves the machining unit to change a position of a tool with respect to a machining target, and has a plurality of joints; a support that supports the machining target and moves the machining target to change a position of the machining target with respect to the tool; a sensor unit that is provided on the machining unit and measures an amount of current supplied to a machining motor which operates the tool or an operation force of the tool; and a controller that receives a measurement signal from the sensor unit and transmits a control signal to the robot and the support.

A control apparatus of a machine tool including a feed axis, which is driven by a feed axis motor, includes a load torque estimation unit configured to estimate a load torque acting on a spindle motor, based on a torque command to the spindle motor which drives a spindle axis of the machine tool, and a speed of the spindle motor; and a speed control unit configured to control a speed of a feed axis motor such that the load torque estimated by the load torque estimation unit follows a prescribed load torque target value.

A numerical controller decelerates a spindle feed rate in a bite portion to a bite velocity lower than a commanded feed rate when drilling is carried out and then, after passage through a velocity recovery point where a measured spindle load is made substantially constant, accelerates the spindle feed rate from the bite velocity to the commanded feed rate.

A robot control system according to an embodiment is a control system for a robot comprising an arm, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool. The robot control system comprises a load-acquiring unit and a control-signal-generating unit. The load-acquiring unit is configured to acquire a force measured by a force sensor configured to measure a force applied from the tool to the arm during profile copying performed on a machining object by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other. The control-signal-generating unit is configured to automatically control the arm by generating a control signal for the arm in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the control signal to the arm.

A robot system for adjusting a machining load depending on tool wear includes a robot that is coupled to a machining unit, moves the machining unit to change a position of a tool with respect to a machining target, and has a plurality of joints. The robot system further includes a support that supports the machining target and moves the machining target to change a position of the machining target with respect to the tool, a sensor unit that is provided on the machining unit and measures an amount of current supplied to a machining motor which operates the tool or an operation force of the tool, and a controller that receives a measurement signal from the sensor unit and transmits a control signal to the robot and the support.

A numerical controller includes: a spindle load detection unit that detects time-series data on a load on a spindle when a workpiece is machined; a machining time setting unit that sets a machining time taken in machining the workpiece; a spindle load calculation unit that, based on the time-series data, calculates a load on the spindle applied when the workpiece is machined in the machining time set by the machining time setting unit and when a feed rate of the spindle is controlled so that the load on the spindle is a constant load; and a spindle load output unit that outputs data indicating the load on the spindle calculated by the spindle load calculation unit.