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AssigneeQem, Inc.
InventorsAdriano Cazzavillan, Pietro Magnabosco, Dario Zatton
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The invention regards a method for co-ordinating and synchronising the movement of servo-assisted axes in machines and apparatuses which execute various industrial applications. The method in object is applied in the programming of electronic control systems using specific commands collected in a particular table subdivided into sectors and known as a “CAM TABLE”, according to a programming technique known as “CAMMING”. The fundamental characteristic of the devised method is given by the fact that inside the aforementioned sectors of the CAM TABLE are described, through the use of a special operating code comprising a plurality of operating instructions, both the position relationships and the virtual laws of motion which bind a first reference axis known as the “MASTER axis”, and each of the other axes known as “SLAVE axes” together.
Method for co-ordinating and synchronising the movement of servo-assisted axes which can be applied to electronic control systems using specific commands collected in a moving program with which are defined the type of “trajectory” which said servo-assisted axes must carry out to realise a certain application in various sectors of industry, according to a control technique known as “CAMMING” based upon the decomposition of the global motion of said axes into elementary movements of each individual axis, the first of said axes—known as “MASTER axis”—functioning as position reference and capable of being real or virtual, and all of the other axes—known as “SLAVE axes”—being related solely to the motion of said MASTER axis through a particular correspondence table—known as “CAM TABLE”—which comprises a plurality of lines—which we shall call “sectors”—in each of which the position which must be taken up by each of said SLAVE axes are related to every position of said MASTER axis, said method being characterised in that inside said sectors of said CAM TABLE, besides the position relationships, the virtual laws of motion which bind said MASTER axis and each of said SLAVE axes together are described;
Method according to the previous claims characterised in that the setting of the maximum possible speed to be assigned to said MASTER axis is calculated from the acceleration, deceleration and speed limits of each of said SLAVE axes and derives from the laws which describe the motion of the SLAVE axes themselves, and vice-versa the acceleration, deceleration and speed limits of each of said SLAVE axes is calculated from the maximum speed of said MASTER axis.
Method according to any one of the previous claims characterised in that said operating instructions inserted in each sector of said CAM TABLE comprise at least one plurality of fundamental operating instructions of which a first instruction (CodeQm) defines the incremental position of said MASTER axis expressed in measurement units and only with positive increments;
Method according to any one of the previous claims characterised in that said third instruction (CodeG) comprises a plurality of numerical codes with each of which is associated a particular function describing the law of motion of each of said SLAVE axes, or else other significant functions for the execution of the work program.
Method according to any one of the previous claims characterised in that in each sector of said CAM TABLE said fundamental operating instructions are added to with a plurality of auxiliary operating instructions which describe in greater detail the progression of the increments in position of every single one of said SLAVE axes, said auxiliary operating instructions, associated with said fundamental operating instructions, being suitable for describing various laws of motion of each of said SLAVE axes and for allowing the execution of any trajectory in space.
Method according to any one of the previous claims characterised in that in said CAM TABLE any one of said SLAVE axes is suitable for becoming, in turn, a further MASTER axis of a new CAM TABLE for the purpose of realising a cascade regulation, according to the teachings described and illustrated above.
Dependencies are inferred from the claim text.