WO1994026465A1 - Tool breakage prevention system - Google Patents
Tool breakage prevention system Download PDFInfo
- Publication number
- WO1994026465A1 WO1994026465A1 PCT/JP1994/000668 JP9400668W WO9426465A1 WO 1994026465 A1 WO1994026465 A1 WO 1994026465A1 JP 9400668 W JP9400668 W JP 9400668W WO 9426465 A1 WO9426465 A1 WO 9426465A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- torque
- tool
- disturbance torque
- disturbance
- estimated
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4065—Monitoring tool breakage, life or condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37245—Breakage tool, failure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41371—Force estimation using velocity observer
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41379—Estimate torque from command torque and measured speed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50276—Detect wear or defect tool, breakage and change tool
Definitions
- the present invention relates to a tool breakage prevention system for preventing breakage of a tool used in a numerically controlled machine tool.
- the tool may be damaged due to the abnormal load generated during the cutting process, and various measures have been taken to prevent the damage before it occurs.
- These tool breakage prevention methods are mainly performed by detecting the cutting load. The following methods are used to detect the cutting load.
- the above-mentioned conventional method (1) is structurally complicated since a detection sensor is externally mounted and a signal processing control device for the sensor is required separately from the numerical control device. It is also expensive.
- the present invention has been made in view of the above circumstances, and is intended to easily and accurately detect an abnormal load and accurately prevent a tool from being damaged. In both cases, it is an object of the present invention to provide a tool breakage prevention method capable of appropriately coping with an abnormality when a tool breakage has already occurred.
- a tool breakage prevention method capable of appropriately coping with an abnormality when a tool breakage has already occurred.
- a first disturbance torque estimating means for estimating a disturbance torque acting on a spindle for rotating the tool, and controlling a feed of the tool.
- a second disturbance torque estimating means for estimating a disturbance torque acting on the feed shaft, and a disturbance torque estimated by the first disturbance torque estimating means and an estimated disturbance torque by the second disturbance torque estimating means.
- Comparing means for comparing the obtained third estimated disturbance torque with a preset reference torque, and a command signal for decelerating or stopping the feed of the tool or replacing the tool in accordance with a result of the discrimination by the comparing means.
- Deceleration stop command means for outputting
- a first and a second disturbance torque estimating means for estimating a disturbance load torque applied to a motor driving a main shaft and a feed shaft by a disturbance estimating observer.
- the comparison means estimates the load applied to the spindle and feed shaft, that is, the load applied to the tool with high accuracy, by combining the disturbance torques acting on both the spindle and the feed shaft to obtain a combined disturbance torque.
- the combined disturbance torque is compared with a preset reference torque, which is an abnormal load detection level, and is variably set based on factors such as the type of tool and the hardness of the work material. Since the disturbance torque acting on both shafts is combined and compared with the reference torque, the abnormal load detection level is set so as to be well suited to the machining conditions at that time. It is a child.
- the deceleration stop command means Outputs a command signal to decelerate or stop the feed or change the tool.
- Fig. 1 is a block diagram showing the principle of the tool breakage prevention method of the present invention.
- Fig. 2 is a block diagram of the hardware of a numerical controller (CNC) for implementing the tool breakage prevention method of the present invention.
- CNC numerical controller
- Fig. 3 is a block diagram of the observer according to the present invention.
- FIG. 4 is a flowchart showing a first example of a processing procedure in PMC.
- FIG. 5 is a flowchart showing a second example of a processing procedure in PMC.
- FIG. 1 is a block diagram showing the principle of the tool breakage prevention method of the present invention.
- the first disturbance torque estimating means 1 is based on the speed signal XI s of the spindle motor (spindle) 73 and the torque command value U ls to the spindle motor 73.
- the second disturbance torque estimating means 2 calculates the disturbance acting on the servomotor 63 based on the speed signal X1z of the servomotor (feed axis) 63 and the torque command value U1z to the servomotor 63. Estimate the torque Yz.
- the comparison means 3 combines the estimated disturbance torques Ys and Yz to obtain a combined disturbance torque Y, and compares the combined disturbance torque ⁇ with a preset reference torque Ye. If the comparing means 3 determines that the combined disturbance torque Y is larger than the reference torque Ye, the deceleration stop command means 4 A command signal for decelerating or stopping the feed of the tool or changing the tool based on the result of the determination is output.
- FIG. 2 is a block diagram of a hardware of a numerical controller (CNC) for implementing the tool breakage prevention method of the present invention.
- 10 is a numerical controller (CNC).
- the processor 11 is a central processor for controlling the entire numerical control device (CNC) 10.
- the processor 11 reads a system program stored in the ROM 12 via the bus 21 and reads the system program according to the system program.
- Numerical control unit (CNC) 10 Performs overall control.
- RAM I3 stores temporary calculation data, display data, and the like.
- DRAM is used for RA Ml3.
- the processing program and various parameters are stored in the CMO S 14. Since the CMOS 14 is backed up by a battery (not shown) and is in a non-volatile memory even when the numerical controller (CNC) 10 is turned off, its data is retained as it is.
- the interface 15 is an interface for an external device, and is connected to an external device 31 such as a paper tape reader, a paper tape puncher, a paper tape reader and a puncher.
- the processing program is read from the paper tape reader, and the processing program edited in the numerical controller (CNC) 10 can be output to the paper tape puncher.
- CNC numerical controller
- PMC Programmable 'Machine' Controller 16 is built into CNC 10 and controls the machine with a sequence program created in ladder format. In other words, according to the M function, S function and T function specified in the machining program, these are converted into the necessary signals on the machine side by the science program, and the I / unit Output from 17 to the machine side.
- This output signal drives the magnet on the machine side, and activates the hydraulic valve, pneumatic valve, electric actuator and the like. Also, it receives signals from the limit switch on the machine side and the switches on the machine operation panel, etc., performs necessary processing, and passes it to the processor 11.
- the graphic control circuit 18 converts digital data such as a current position of each axis, an alarm, a parameter, and image data into an image signal and outputs it. This image signal is sent to the display device 26 of the CRTZMDI unit 25, and is displayed on the display device 26.
- the interface 19 receives the data from the keyboard 27 in the CRT / MDI unit 25 and passes it to the processor 11.
- the interface 20 is connected to the manual pulse generator 32 and receives a pulse from the manual pulse generator 32.
- the manual pulse generator 32 is mounted on the machine control panel and is used to manually position the machine working parts precisely.
- the axis control circuits 41 to 43 receive the movement command of each axis from the processor 11 and output the fingering of each axis to the servo amplifiers 51 to 53 (the servo amplifiers 51 to 53 In response to this movement, the servo motors 61 to 63 of each axis are driven.
- the servo motor 63 that controls the Z-axis feed has a built-in pulse coder 631 for position detection. The position signal is fed back from the pulse coder 631 as a pulse train to the axis control circuit 43.
- the servomotors 61 and Y for controlling the X-axis feed are not shown here.
- the servomotor 62 for controlling the axis feed also has a built-in pulse coder for position detection, similar to the servomotor 63, and the position signal is fed back from the pulse coder as a pulse train.
- a linear scale is used as the position detector. By converting this pulse train into FZV (frequency Z speed), a speed signal XI z can be generated.
- the axis control circuit 43 includes a processor (not shown) to perform software processing, and has an observer 410 in a part thereof.
- the observer 410 receives the speed signal X1z or the like and estimates the disturbance torque Yz acting on the servomotor 63.
- the estimated disturbance torque ⁇ ⁇ is sent to PMC 16. Details will be described later.
- the spindle control circuit 71 outputs a spindle speed signal to the spindle amplifier 72 in response to instructions such as a spindle rotation instruction and a spindle orientation.
- the spindle amplifier 72 receives the spindle speed signal and rotates the spindle motor 73 at the commanded rotation speed.
- the spindle is positioned at a predetermined position by the orientation command.
- a spindle coder 82 is connected to the spindle motor 73 by a gear or a belt. Accordingly, the position coder 82 rotates in synchronization with the spindle motor 73 and outputs a feedback pulse, and the feedback pulse is fed back to the spindle control circuit 71. By converting this pulse train into FZV (frequency speed), a speed signal XIs can be generated.
- FZV frequency speed
- the spindle control circuit 71 includes a processor (not shown) to perform software processing, and has an observer 710 in a part thereof. .
- the observer 7110 receives the speed signal X1s and the like, and estimates the disturbance torque Ys acting on the spindle motor 73.
- the estimated disturbance In the same way as the estimated disturbance torque Yz described above, the torque Ys can be assigned to the PMC 16.
- the PMC 16 receives these estimated disturbance torques Yz and Ys and performs predetermined software processing. That is, the estimated disturbance torques Yz and Ys are combined to obtain a combined disturbance torque Y, and the combined disturbance torque is compared with the reference torque Ye to detect an abnormal torque. Command feed stop, etc.
- FIG. 3 is a block diagram of the observer according to the present invention.
- the processing shown in the block diagram is executed by the observer 410 of the axis control circuit 43 and the observer 7100 of the spindle control circuit 71, as described above. Since the observers 4110 and 7110 have the same configuration, the observer 4110 will be described here, and the description of the observer 710 will be omitted.
- a current U 1 z is a torque command value output to the servo motor 63 in response to the movement command from the processor 11 described above, and is input to the element 401 to Output torque.
- the disturbance torque X 2 is added to the output torque of the servomotor 63 in the calculation element 402.
- the output of the operation element 402 becomes the speed signal X 1 z by the element 403.
- J is the inertia of the servo motor 63.
- the current U 1 z is input to the observer 4 10.
- the controller 410 calculates the estimated speed XX 1 from the current U lz and the speed X 1 z of the servo motor 63 and controls the speed of the servo motor 63.
- the speed control of the servomotor 63 will be omitted, and only the calculation for estimating the disturbance torque will be described.
- the current U 1 z is multiplied by (K t J) at the element 4 1 1 and goes to the operation element 4 1 2 Is output.
- the operation element 4 12 adds the feedback from the operation element 4 14, and the operation element 4 13 adds the feedback from the integration element 4 15.
- the output unit of the operation elements 4 12 and 4 13 is acceleration.
- the output of the operation element 4 13 is input to the integration element 4 16 and output as the estimated speed XX 1.
- the difference between the estimated speed XX 1 and the actual speed X 1 z is obtained by the operation element 4 17, and is fed back to the operation element 4 14 and the integration element 4 15, respectively.
- the proportional element 4 14 has a gain K 1.
- the gain of the integral element 4 15 is K 2.
- the frequency band to be returned is determined by the gain K 1 and the gain K 2.
- the output of the integral element 4 15 is the estimated acceleration (X X 2 Z J) obtained by dividing the estimated disturbance torque X X 2 by J, and is converted to a current value by the proportional element 4 20. However, in order to display the torque, this current value is displayed as the estimated disturbance torque Yz.
- J is the same inertia of the servo motor 63 as J of the element 4003, and Kt is the same as the torque constant of the element 401.
- A is a coefficient, which is a value less than or equal to 1, and is a coefficient for correcting the estimated acceleration (XX2 / J). In this way, the estimated disturbance torque Yz of the servomotor 63 is obtained by using the observer 410, and is sent to the PMC16.
- the estimated disturbance torque Y s of the spindle motor 73 is similarly obtained using the observer 7110.
- the observer 7110 obtains the estimated disturbance torque Ys from the current Uls and the speed signal XIs of the spindle motor 73.
- the current U 1 s is a torque command value output to the spindle motor 73 in response to a spindle rotation command from the processor 11.
- These estimated disturbance torques Y z and Y s are sent to PMC 16.
- the PMC 16 determines the abnormal torque using these estimated disturbance torques Yz and Ys, and when it is determined that the torque is abnormal, the servomotor 63 decelerates, stops, or stops. Send a replacement instruction.
- the processing performed in the PMC 16 will be described with reference to FIGS.
- FIG. 4 is a flowchart showing a first example of the processing procedure in the PMC.
- the numeral following S indicates the step number.
- [S 1] Read the estimated disturbance torques Yz and Ys.
- the coefficient / S is experimentally determined in consideration of the degree to which Yz and Ys contribute to the abnormal load detection level.
- [S3] It is determined whether or not the combined disturbance torque ⁇ is equal to or greater than a preset reference torque ⁇ . If ⁇ , the process proceeds to step S6; otherwise, the process proceeds to step S4.
- the reference torque Upsilon, and reference torque Upsilon 2 is abnormal load detection level, is variably set based on factors such as hardness of the tool species such Ya Waku material.
- the disturbance torque acting on the servomotor 63 and the spindle motor 73 is estimated using the observers 4110 and 7110, and the occurrence of an abnormal load is determined. Therefore, tool breakage can be easily prevented without adding an external sensor. Also, since the estimated disturbance torque does not include the acceleration / deceleration load, the load applied to the main shaft and feed shaft, that is, the load applied to the tool, can be accurately estimated, and the occurrence of abnormal load can be determined with high accuracy. It can be carried out.
- the disturbance torque is synthesized and compared with the reference torque Ye, it is possible to set an abnormal load detection level that matches the processing conditions, and it is possible to prevent tool breakage with higher reliability. it can.
- FIG. 5 is a flowchart showing a second example of the processing procedure in the PMC.
- the numeral following S indicates the step number.
- S11 Read the signal during cutting. That is, when the CPU reads, for example, a G code in the machining program, it determines that the CPU is cutting.
- the coefficient H, / S is Yz
- Ys is the abnormal load detection level. It is determined experimentally in consideration of the degree of contribution.
- the reference torques Y 1 and Y 2 are abnormal load detection levels, and are variably set based on factors such as the hardness of the tool type and the material of the workpiece.
- the cotton throughout during the cutting period connexion synthesis disturbance torque Y is whether the to another determine is the reference torque Y 3 or less.
- the reference torque Upsilon 3 is set to a minute level. If ⁇ 3 or less, go to step S 18; otherwise, determine that no abnormality has occurred and end the program as it is.
- the disturbance torque acting on the servomotor 63 and the spindle motor 73 is estimated using the observers 410 and 7110, and the occurrence of an abnormal load is determined. did. Therefore, tool breakage can be easily prevented without adding an external sensor. Since the estimated disturbance torque does not include the acceleration / deceleration load, the load applied to the main shaft and feed shaft, that is, the load applied to the tool, can be accurately estimated, and the occurrence of abnormal load can be determined with high accuracy. Can be performed at any time.
- the two estimated disturbance torques are combined and compared with the reference torque.However, the reference torque and the reference torque are calculated using only the estimated disturbance torque on either the spindle motor side or the servomotor side. You may comprise so that it may compare.
- the disturbance torque of the Z-axis servomotor was estimated, but the disturbance torque of the X-axis and Y-axis servomotors was estimated. May be configured.
- the comparison between the estimated disturbance torque and the reference torque, the deceleration stop command, and the like are performed by the PMC.
- the processor 11 that controls the entire numerical controller may perform the processing.
- the disturbance torque acting on the main shaft and the feed shaft is estimated using the observer, and the occurrence of an abnormal load is determined. Therefore, tool breakage can be easily prevented without adding an external sensor.
- the load applied to the spindle and feed shaft that is, the load applied to the tool, can be accurately estimated, and the occurrence of abnormal load can be determined with high accuracy. Can be performed at any time.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Automatic Control Of Machine Tools (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/360,780 US5587915A (en) | 1993-05-11 | 1994-04-21 | Tool damage prevention system |
EP94913798A EP0666138B1 (en) | 1993-05-11 | 1994-04-21 | Tool breakage prevention system |
KR1019950700097A KR950702464A (ko) | 1993-05-11 | 1994-04-21 | 공구 파손 방지 방식(tool breakage prevention system) |
DE69427521T DE69427521T2 (de) | 1993-05-11 | 1994-04-21 | Vorbeugungssystem fur werkzeugbruch |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10915393 | 1993-05-11 | ||
JP5/109153 | 1993-05-11 | ||
JP5/138293 | 1993-06-10 | ||
JP13829393A JP3285663B2 (ja) | 1993-05-11 | 1993-06-10 | 工具破損検出装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1994026465A1 true WO1994026465A1 (en) | 1994-11-24 |
Family
ID=26448936
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1994/000668 WO1994026465A1 (en) | 1993-05-11 | 1994-04-21 | Tool breakage prevention system |
Country Status (6)
Country | Link |
---|---|
US (1) | US5587915A (ja) |
EP (1) | EP0666138B1 (ja) |
JP (1) | JP3285663B2 (ja) |
KR (1) | KR950702464A (ja) |
DE (1) | DE69427521T2 (ja) |
WO (1) | WO1994026465A1 (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3483636B2 (ja) * | 1994-12-21 | 2004-01-06 | ファナック株式会社 | 工具破損・摩耗検出装置 |
JPH08314516A (ja) * | 1995-05-22 | 1996-11-29 | Fanuc Ltd | Cncの軸制御方式 |
JP3655378B2 (ja) * | 1995-11-28 | 2005-06-02 | ファナック株式会社 | サーボモータの外乱負荷推定方法 |
DE69739038D1 (de) * | 1996-05-30 | 2008-11-20 | Ebara Corp | Poliervorrichtung mit Verriegelungsfunktion |
US6289256B1 (en) * | 1997-01-16 | 2001-09-11 | Matsushita Electric Industrial Co., Ltd. | Method and apparatus for mounting parts |
US6490500B1 (en) | 1998-06-01 | 2002-12-03 | Paradyne | Visual drag diagnostic apparatus and method |
JP3436899B2 (ja) * | 1999-09-10 | 2003-08-18 | 義昭 垣野 | 工具異常検出装置及びこれを備えた数値制御装置 |
DE19960834B4 (de) * | 1999-12-16 | 2006-10-26 | Agie S.A., Losone | Verfahren und Vorrichtung zur Störungserfassung, insbesondere zur Kollisionserfassung, im Antriebssystem einer numerisch gesteuerten Werkzeugmaschine |
JP3681733B2 (ja) | 2003-02-21 | 2005-08-10 | ファナック株式会社 | 数値制御装置 |
JP2007152499A (ja) * | 2005-12-06 | 2007-06-21 | Fujikoshi Mach Corp | ワーク研磨方法 |
JP4221022B2 (ja) * | 2006-11-20 | 2009-02-12 | ファナック株式会社 | モータ制御装置 |
DE102008022361A1 (de) | 2008-05-06 | 2009-11-12 | Schneider Gmbh & Co. Kg | Verfahren zum Bearbeiten eines Brillenglasrohlings |
CN101887250B (zh) * | 2009-05-12 | 2012-05-30 | 鸿富锦精密工业(深圳)有限公司 | Cnc工具机控制装置 |
TWI414919B (zh) * | 2010-05-25 | 2013-11-11 | Delta Electronics Inc | 伺服馬達之健康預警裝置及其計算方法 |
KR101776956B1 (ko) * | 2010-12-09 | 2017-09-19 | 두산공작기계 주식회사 | 공작기계의 공구 손상 탐지장치 및 공구손상 탐지방법 |
ITMI20131145A1 (it) * | 2013-07-08 | 2015-01-09 | Inpeco Holding Ltd | Impianto di automazione di laboratorio con dispositivo di trazione a doppio motore di nastri trasportatori. |
JP6148609B2 (ja) * | 2013-11-21 | 2017-06-14 | 株式会社マキタ | 電動工具 |
JP6203775B2 (ja) * | 2015-03-31 | 2017-09-27 | ファナック株式会社 | 固定されたワークの異常を判定するロボットシステム、および、異常判定方法 |
JP6346163B2 (ja) | 2015-12-18 | 2018-06-20 | ファナック株式会社 | ドア開閉装置を備えた工作機械 |
DE112017007995T5 (de) * | 2017-08-30 | 2020-06-18 | Mitsubishi Electric Corporation | Numerisches steuersystem und motorantriebssteuerung |
DE102017128628A1 (de) * | 2017-12-01 | 2019-06-06 | Point 8 Gmbh | Verfahren zum Erfassen mindestens eines Werkzeugzustands eines Werkzeugs einer Werkzeugmaschine zur Bearbeitung von Werkstücken sowie Werkzeugmaschine |
JP7068225B2 (ja) | 2019-04-08 | 2022-05-16 | ファナック株式会社 | 主軸及び送り軸を有する工作機械の制御装置 |
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-
1993
- 1993-06-10 JP JP13829393A patent/JP3285663B2/ja not_active Expired - Fee Related
-
1994
- 1994-04-21 US US08/360,780 patent/US5587915A/en not_active Expired - Lifetime
- 1994-04-21 DE DE69427521T patent/DE69427521T2/de not_active Expired - Fee Related
- 1994-04-21 WO PCT/JP1994/000668 patent/WO1994026465A1/ja active IP Right Grant
- 1994-04-21 KR KR1019950700097A patent/KR950702464A/ko not_active IP Right Cessation
- 1994-04-21 EP EP94913798A patent/EP0666138B1/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0372429B2 (ja) * | 1985-04-26 | 1991-11-18 | Ookuma Kk | |
JPH033755A (ja) * | 1989-05-29 | 1991-01-09 | Okuma Mach Works Ltd | 加工負荷監視方法及びその装置 |
JPH03110606A (ja) * | 1989-09-25 | 1991-05-10 | Seiko Instr Inc | サーボ制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0666138A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP0666138B1 (en) | 2001-06-20 |
US5587915A (en) | 1996-12-24 |
EP0666138A1 (en) | 1995-08-09 |
KR950702464A (ko) | 1995-07-29 |
JP3285663B2 (ja) | 2002-05-27 |
JPH0751991A (ja) | 1995-02-28 |
EP0666138A4 (en) | 1998-05-13 |
DE69427521T2 (de) | 2001-10-11 |
DE69427521D1 (de) | 2001-07-26 |
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