Real-Time Core of Open Numeric Control System and Real-Time Control Method For Cutter Path Curve

A real-time control method of tool-paths, is used to control servo drivers to feed axes, in order to produce resultant displacements, comprising the steps of:

• receiving the control (1), which is configured to set a run flag for the real-time kernel, and the real-time kernel receives the control when a PC system executes a path-instruction;
• setting linkage axes (2), which is configured to read an address from a follow-table and to write the address into a T-pointer, and to read a state-word from the follow-table and to write the state-word into a state-word register, the address and the state-word is designated by a sequence-code and a segment-code of a path-instruction, so as to set the linkage axes in a micro-segment of the tool-path;
• setting linkage command (3), which is configured to read one control rhythm from the follow-table and to write the control rhythm into a T-division timer according to the T-pointer;
• controlling rhythm (4), which is configured to start a pulse generator and to output a pulse, the pulse send a linkage command into servo drivers designated by the state-word register, while time of the T-timer is up;
• feeding axes (5), which is configured to read a increment from a axis linkage-table and to write the increment into the position loop according to a L-pointer after servo drivers received the linkage command, in order to produce a resultant displacement;
• controlling endpoint (6), which is configured to control the endpoint of the micro-segment of the tool-path;
• if the T-pointer is equal to the end address of the follow-table of the micro-segment, i.e. to reach the end of the micro-segment, then to repeat (2) to (6);
• otherwise, to repeat (3) to (5);
• if the T-pointer is equal to the end of the end address of the follow-table, i.e. to reach the end of the tool-path, then to turn off the run flag;
• and
• transferring of the control (7), which is configured to transfer the control from the real-time kernel to the PC system while the PC system queries the running state of the real-time kernel, if the run flag is turned off.