| 摘要 |
PURPOSE:To control the position of a working tool accurately without delay, by reading out a forecasted quantity of change of the directional position at the tip of the working tool and by correcting this position on a basis of this forecasted value to control it. CONSTITUTION:A pulse distributor 10 receives position command signals (x), (y), (z), theta and phi for respective axes and a speed signal (x) from a controller 9 and distributes pulses to drive respective axes. Positioning results are detected by encoders 11c-15c and are fed back to control circuits 11a-15a for axes, and a working tool is stopped in a position where deviation disappears. An operating circuit 16 operates correction quantities for axes (x), (y), and (z) on a basis of signals theta and phi and outputs them to a storing circuit 17. An interpolator 19 reads out contents of a register 18 to output correction quantities successively. These correction quantities are added and synthesized with the command signal from the pulse distributor 10 in correcting circuits 20-22 and are supplied to control circuits 11a-13a. |
