Controller for machine

Details Controller for machine Controller for machine

2006-05-02

2006-05-02

Patel, Ramesh (Department: 2121)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Product assembly or manufacturing

C700S069000, C700S071000, C700S181000, C700S188000, C700S193000, C700S194000, C700S159000, C708S290000, C708S442000, C318S560000, C318S567000, C318S568180, C318S568190, C318S573000

Reexamination Certificate

active

07039494

ABSTRACT:
A controller that eliminates an error caused by acceleration/deceleration control, and controls the velocity of drive axes which is not represented by a rectangular coordinate system such that maximum allowable values of velocity, acceleration, and jerk of the drive axes are not exceeded. A program is analyzed in a command analysis section, and an interpolated position on a motion path in the rectangular coordinate system is determined in a first interpolation section, and then converted by means of a transformation section into drive axes' positions not in the rectangular coordinate system. In a tangential acceleration calculating section, a tangential acceleration is determined. In a velocity limit calculating section, a velocity limit at the time of each position being reached is determined which does not exceed maximum allowable values of velocity, acceleration, and jerk of the drive axes. A deceleration target velocity at the time of each position being reached is determined in a deceleration target velocity calculating section. An intermediate memory stores the calculated results. A motion amount for a processing period of a second interpolation section is determined in an acceleration/deceleration processing section, and is interpolated in the second interpolation section, to be output to a servo control section for the drive axes. By performing the acceleration/deceleration processing before the second interpolation, a trajectory error is eliminated.

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Notification of Grounds for Rejection (Office Action) in corresponding Japanese Patent Application No. 286692/2003 mailed Oct. 25, 2005.

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