# US 4,959,597 A · Numerical control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 4,959,597 A - Document ID: US4959597A - Status: Granted - Kind: A - Application number: 07/314,057 - Filed: 1989-02-08 - Granted: 1990-09-25 - Earliest claimed: 1987-07-30 - Assignees: Fanuc Corporation - Inventors: Hideaki Kawamura; Kentaro Fujibayashi; Toshiaki Otsuki - Web page: https://patentgrep.com/patent/US4959597A ## CPC - G05B 19/4103: Digital interpolation - F16H 2061/0444: {during fast shifting over two gearsteps, e.g. jumping from fourth to second gear} - G05B 2219/34144: Involute, evolute - G05B 2219/50336: Tool, probe offset for curves, surfaces, contouring - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - F16H: GEARING - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A numerical control apparatus according to the invention for interpolatory control of a tool along the shape of a workpiece to be machined. In order to perform offsetting of a cutting tool by an amount equivalent to the tool diameter when involute interpolation is carried out, an involute curve is approximated by a circular which is set in dependence upon the intersection angle of a machining trajectory at a command point commanding the start of machining. ## Claims ### Claim 1 A numerical control apparatus having a tool control function for machining a workpiece into a shape along an involute curve, comprising: setting means for setting an approximation circle approximating the involute curve in accordance with an intersection angle at a command point commanding the start of machining along the involute curve; arithmetic means for computing a command point offset vector at the command point based on both the approximation circle and a tool offset quantity of a tool trajectory up to the command point; and interpolating means for interpolating the involute curve as offset by a tool diameter based on the command point offset vector. ### Claim 2 (depends on 1) A numerical control apparatus according to claim 1, wherein said setting means comprises: means for deciding, with respect to the tool offset quantity r of the tool, a first approximation circle having a radius of curvature stipulated by a tangent line of a basic circle of the involute curve at the command point; means for deciding a second approximation circle stipulated by the command point and two points on the involute curve separated from the command point by distances r/2, r; means for deciding a third approximation circle stipulated by the command point and two points on the involute curve separated from the command point by distances r, 2r; means for computing the intersection angle at the command point; and means for selecting, based on the intersection angle, one of the first, second and third approximation circles to minimize error. ### Claim 3 (depends on 1) A numerical control apparatus according to claim 1, wherein said setting means comprises: means for deciding, with respect to an offset quantity r of the tool, a first approximation circle having a radius of curvature stipulated by a tangent line of a basic circle of the involute curve at the command point; means for deciding a second approximation circle stipulated by the command point and two points on the involute curve separated from the command point ;by distances r/2tan(.alpha./2), r/tan(.alpha./2); means for deciding a third approximation circle stipulated by the command point and two points on the involute curve separated from the command point by distances r/tan(.alpha./2), 2r/tan(.alpha./2); means for computing the intersection angle at the command point; and means for selecting, based on the computed intersection angle, one of the first, second and third approximation circles to minimize error. ### Claim 4 A numerical control apparatus for machining a workpiece with a tool along an involute curve, the involute curve having a command point and an intersection angle with a magnitude, the tool having a tool offset quantity, said apparatus comprising: curve approximation means for approximating the involute curve with an approximate circle based upon the magnitude of the intersection angle; interpolation means for switching from offset linear interpolation to offset circular interpolation at the command point; and processor means for calculating an offset vector at the command point based on the approximate circle and the tool offset quantity, and for outputting circular interpolation data to machine the workpiece. ### Claim 5 (depends on 4) A numerical control apparatus according to claim 4, wherein said curve approximation means comprises: means for computing the magnitude of the intersection angle; and means for providing a first approximate circle with respect to the tool offset quantity r of the tool having a radius stipulated by a tangent line to a basic circle of the involute curve at the command point. ### Claim 6 (depends on 5) A numerical control apparatus according to claim 5, wherein said curve approximation means further comprises: means for providing a second approximate circle stipulated by the command point and two points on the involute curve separated from the command point by distances r/2tan(.alpha./2) and r/tan(.alpha./2), respectively; and means for selecting one of the first and second approximate circles based on the magnitude of the intersection angle. ### Claim 7 A method for machining a workpiece with a tool along an involute curve, the involute curve having a command point and an intersection angle with a magnitude, said method comprising the steps of: (a) switching from offset linear interpolation to offset circular interpolation at the command point; (b) approximating the involute curve with an approximate circle based upon the magnitude of the intersection angle; (c) calculating an offset vector based on the approximate circle and outputting circular interpolation data to machine the workpiece; and (d) converting the circular interpolation data into signals for controlling the machining of the workpiece. ### Claim 8 (depends on 7) A method according to claim 7, wherein said approximating of step (b) comprises the steps of: (i) computing the magnitude of the intersection angle; and (ii) providing a first approximate circle with respect to an offset quantity r of the tool having a radius stipulated by a tangent line to a basic circle of the involute curve at the command point. ### Claim 9 (depends on 8) A method according to claim 8, wherein said approximating of step (b) further comprises the steps of: (iii) providing a second approximate circle stipulated by the command point and two points on the involute curve separated from the command point by distances r/2tan(.alpha./2) ;and r/tan(.alpha./2), respectively; and (iv) selecting one of the first and second approximate circles based on the magnitude of the intersection angle. ### Claim 10 (depends on 4) A numerical control apparatus according to claim 4, wherein said apparatus further comprises servo control means for machining the workpiece in accordance with the circular interpolation data. ### Claim 11 (depends on 7) A method according to claim 7, wherein said method further comprises the step (e) machining the workpiece in accordance with the circular interpolation data.