| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for calculating a recovery command for numerical control system which provides a servo driver wherein a superordinate controller drives a motor with a positioning command. SOLUTION: A memory space to store a positioning command is provided, and a position matrix and a transformation matrix are read out. Finally, the transformation matrix is multiplied by the position matrix to calculate coefficients of a position polynomial and a plurality of position interpolations. Furthermore, a velocity polynomial and an acceleration polynomial are calculated. Accordingly, the positioning command is calculated as a recovering high order differentiable continuous polynomial to synchronize a servo driver with a superordinate controller. As described, a high order differentiable continuous polynomial is recovered and servo lag can be considerably reduced. COPYRIGHT: (C)2010,JPO&INPIT |
