Movement controller for e.g. multidirectional machine tool - uses several microprocessors to perform calculations in each movement axis

摘要

The controller includes a number of microprocessors to control movement of a system with several degrees of freedom. Such a system permits automatic curve tracing or automatic control of machine tools. The microprocessors (UC) used to interpolate polynomial expressions are grouped to communicate with independent data buses (B) controlled from a memory. The microprocessor groups perform the calculations for the various axes of the control system. Several control units (CO) also communicate with the buses and are under the control of a central unit (CC). A modulator circuit (W) associated with each control unit modifies the frequency from each clock (H) to effect the processing at different rates in the various microprocessors. An iteration counter for each control unit controls slowing of the moving object at the end of travel.