SAMPLED DATA NUMERICAL CONTOURING MACHINE CONTROLLER APPARATUS AND METHOD PROVIDABLE WITH ON LINE CAPABILITY FOR CONTOUR CORNERING DECELERATION AND ACCELERATION

摘要

A numerical contouring controller employs ramped velocity commands for pre-corner slowdown and post-corner speedup in the relative movement between the controlled machine tool and a workpiece. The controller includes a digital computer which generates a command position trajectory. The computer operates in a closed position loop at a predetermined sampling frequency to compare accumulated position feedback data and the command position and thereby to generate command data to velocity loop controls which accurately position the machine tool slides. A program system operates the computer to make and implement the motion command determination including path speed change determinations and to make and implement nonmotion command determinations for machine tool, data input and machine operator interfacing.