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发明授权
CN101339428B 将各控制轴加减速控制成为指令速度的数值控制装置 有权

将各控制轴加减速控制成为指令速度的数值控制装置
摘要：
本发明提供一种将各控制轴加减速控制成为指令速度的数值控制装置。该数值控装置，通过参数的设定或根据实际速度的大小关系或速度差来求出伺服开启时各个控制轴的移动指令的初速度，由此在执行伺服开启后的移动指令时，使控制轴之间的位置差不会增大。此外，将移动指令的初速度设为各个控制轴的实际速度，根据实际速度的大小关系决定目标对象轴，根据指令加速度/减速度以目标对象轴的位置以及速度为目标对其他的控制轴进行加减速控制，在伺服开启后的移动指令的执行过程中，缓缓地消除控制轴之间的位置差以及速度差，不会产生急剧的速度变化，可抑制机械的冲击。
摘要（英）：

The invention provides a numerical controller controlling acceleration and deceleration of respective control axes up to command speeds. Initial speeds in the move commands for respective control axes at servo-on are determined according to parameter setting, or the comparative relationship or difference in speed among the actual speeds of the control axes so that difference in position between the control axes does not increase as the move commands are executed after the servo-on. The actual speeds of the control axes are set as initial speeds in the move commands, and a target axis is specified on the basis of the comparative relationship among their actual speeds and the other control axes are accelerated or decelerated at the acceleration or deceleration rate specified in the move commands to attain the position and speed of the target axis, so that differences in position and speed among the control axes are gradually decreased as the move commands are executed after the servo-on, thereby preventing abrupt speed changes and suppressing mechanical shocks.

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