A motor control angle sensor includes a sensor that outputs a signal according to driving of a motor, an arithmetic processing unit, a motion history temporary memory unit, and a motion history storage unit, wherein the arithmetic processing unit generates position information data containing a position of the motor acquired based on the signal output from the sensor and a time when the position is acquired, repeats processing of storing the generated position information data in the motion history temporary memory unit, and, when an abnormality is sensed or a signal reporting an abnormality is received from an external apparatus, stores the position information data stored in the motion history temporary memory unit in the motion history storage unit.

A numerical controller comprises a restart position candidate setting unit configured to store information on a block serving as a restart position candidate where machining is to be restarted, on the basis of a result of an analysis of a machining program, a block head position drawing unit configured to draw, when the machining is interrupted, a machining position corresponding to a head of the block serving as a restart position candidate stored by the restart position candidate setting unit, on the machining path displayed on a machining path graphic screen, and a restart block setting unit configured to set a block corresponding to a machining position designated by a user from among the machining positions drawn by the block head position drawing unit, as a restart block.

A robot may include a base; a base link connected to the base; an arm link coupled to the base link; an arm connected to the arm link; a hand connected to the arm; a storage; and a controller. The base link and arm link move so that a center of a coupling shaft of the arm link and the arm moves in a line. When the robot is within a predetermined range of a latest coordinate, the robot moves to the return-to-origin position in a direction from the transfer direction, otherwise the controller calculates the transfer path based on past teaching, and determines if there is a path close to the latest coordinate. If there is path, the controller determines whether the hand section is outside of a safe area, and if so, pulls the hand to a safe area and then moves the robot to the return-to-origin position.

This system is a data collection system collecting a robot operation-related data/signal from a robot controller. The data collection system includes a data collection condition setting unit setting a collection condition of the robot operation-related data/signal from the robot controller and a data storage unit storing the robot operation-related data/signal collected from the robot controller. A shared memory inside which the data storage unit and the data collection condition setting unit are formed is formed in a substrate which can be mounted on an expansion slot of the robot controller. According to this system, a data collection function can be post-installed to an existing robot controller so as to arbitrarily select and collect various data on the robot operation.

A numerical controller comprises a restart position candidate setting unit configured to store information on a block serving as a restart position candidate where machining is to be restarted, on the basis of a result of an analysis of a machining program, a block head position drawing unit configured to draw, when the machining is interrupted, a machining position corresponding to a head of the block serving as a restart position candidate stored by the restart position candidate setting unit, on the machining path displayed on a machining path graphic screen, and a restart block setting unit configured to set a block corresponding to a machining position designated by a user from among the machining positions drawn by the block head position drawing unit, as a restart block.

A robot may include a base; a base link connected to the base; an arm link coupled to the base link; an arm connected to the arm link; a hand connected to the arm; a storage; and a controller. The base link and arm link move so that a center of a coupling shaft of the arm link and the arm moves in a line. When the robot is within a predetermined range of a latest coordinate, the robot moves to the return-to-origin position in a direction from the transfer direction, otherwise the controller calculates the transfer path based on past teaching, and determines if there is a path close to the latest coordinate. If there is path, the controller determines whether the hand section is outside of a safe area, and if so, pulls the hand to a safe area and then moves the robot to the return-to-origin position.

A surgical robotic system includes a surgical robotic arm having an instrument and an instrument drive unit configured to actuate the instrument. The system also includes a storage device and a controller configured to store a save point on the storage device, the save point including configuration data pertaining to at least one of the surgical robotic arm, the instrument drive unit, or the instrument. The controller is further configured to detect an error resulting in a reboot of at least one of the surgical robotic arm, the instrument drive unit, or the instrument. The controller is additionally configured to access the configuration data of the save point after the reboot of at least one of the surgical robotic arm, the instrument drive unit, or the instrument. The controller is also configured to output a graphical user interface including instructions for restoring at least one of the surgical robotic arm, the instrument drive unit, or the instrument based on the configuration data

This system is a data collection system collecting a robot operation-related data/signal from a robot controller. The data collection system includes a data collection condition setting unit setting a collection condition of the robot operation-related data/signal from the robot controller and a data storage unit storing the robot operation-related data/signal collected from the robot controller. A shared memory inside which the data storage unit and the data collection condition setting unit are formed is formed in a substrate which can be mounted on an expansion slot of the robot controller. According to this system, a data collection function can be post-installed to an existing robot controller so as to arbitrarily select and collect various data on the robot operation.