| 摘要 |
A method and an apparatus for controlling the motors for moving a tool, comprising a control cycle with the steps of calculating first and second parameters indicating the speed to be imparted to the motors to travel at a pre-established nominal speed along first and second segments sequential to each other, and of calculating the absolute value of the difference between first and second parameters. If the difference is less than a pre-established maximum value, the motors are commanded to travel along the first segment at the pre-established nominal speed and are then commanded to travel along the second segment at the pre-established nominal speed. If the difference is greater than the maximum value, the motors are commanded to travel along the first segment at the pre-established nominal speed until they almost reach the end of the first segment, and then slow down to a pre-established minimum speed, reach the point of conjunction between the two segments at said minimum speed and then accelerate again to follow the second segment and travel along it at the nominal speed pre-established for it.
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