| 摘要 |
The invention concerns the decentralized control of a motor drive (1) to which a central control unit (7) gives motion commands in the form of path and time data on reference points (P1, P2, P3, P4) located a certain distance apart, the drive having its own intelligent decentralized control unit (5) which controls the drive in such a way that the motion commands are executed. The invention ensures that the required path is followed by virtue of the fact that at least one algorithm for the calculation of a path/time function is defined for the decentralized control unit (5) and that, in addition to the path and time data (s1, s2, s3, s4; t1, t2, t3, t4), at least one item of information is transmitted by the central control unit (7) for calculation of the path/time function in accordance with the logarithm between the reference points (P1 to P4). |
