Numerical control method and apparatus therefor

A numerical control apparatus for controlling first and second DC motors which drive a workpiece along first and second axes, respectively, and generate feedback pulse trains, said apparatus comprising:

• control means for reading numerical control command data and decoding the numerical control command data to produce first and second move commands along the first and second axes;
• pulse distributing means, operatively connected to said control means, for generating first and second distributed pulse trains in dependence upon the first move command and third and fourth distributed pulse trains in dependence upon the second move command;
• acceleration/deceleration speed control means, operatively connected to said pulse distributing means, for decelerating speed along the first and second axes when the first and second distributed pulse trains end and for accelerating the speed along the first and second axes when the third and fourth distributed pulse trains start, by generating a number of pulses corresponding to the first and second axes;
• feedback control means, operatively connected to said acceleration/deceleration speed control means and the first and second DC motors, for executing control to eliminate errors between one of the first and third pulse trains and the feedback pulse train from the first DC motor and between one of the second and fourth pulse trains and the feedback pulse train from the second DC motor;
• actual speed output means, operatively connected to said acceleration/deceleration speed control means, for outputting an actual speed, comprising:
• first and second counters, operatively connected to said acceleration/deceleration speed control means, for counting the number of pulses generated by said acceleration/deceleration speed control means corresponding to the first and second axes, respectively;
• a read circuit, operatively connected to said first and second counters, for reading the contents of said first and second counters at discrete times;
• and
• an actual speed arithmetic circuit, operatively connected to said read circuit, for computing and outputting the computed actual speed;
• prescribed speed setting means for setting a prescribed speed;
• and
• comparison means, operatively connected to said pulse distributing means, said actual speed arithmetic circuit and said prescribed speed setting means, for comparing the computed actual speed and the prescribed speed and for delivering a pulse distribution start signal to said pulse distributing means when the computed actual speed falls below the prescribed speed.

A numerical control apparatus using numerical control data to control first and second DC motors, comprising:

• speed setting means for setting a threshold speed;
• control means for producing first and second moves commands in dependence upon the numerical control data;
• speed control means, operatively connected to said control means and the first and second motors, for controlling the first and second motors in dependence upon the first and second move commands by decelerating the first and second motors when a first move commanded by the first move command is ending and accelerating the first and second motors when a second move commanded by the second move command is starting;
• actual speed determining means, operatively connected to said speed control means, for determining a combined actual speed of the first and second motors acting in combination;
• and
• comparison means, operatively connected to said speed setting means, said actual speed determining means and said speed control means, for instructing said speed control means to start accelerating the second move when the combined actual speed of the first move is less than or equal to the threshold speed.