Method for controlling the acceleration and velocity of at least one controllable axis of a machine tool or robot

Abstract

The method enables an axial movement, in particular in the form of a pendulum motion of a numerically controlled axis to be carried out with minimal computational expenditure of time and energy. For this purpose, the pendulum profile is subdivided into the time intervals (t.sub.n-1,t.sub.n), in which different motion processes (acceleration, no velocity or constant velocity) take place. In each system clock, it is checked in which time interval (t.sub.n-1,t.sub.n), the sum of the already output system clocks (i.sub.N T) lies, so that with the corresponding, previously determined path-time equation (S.sub.n (t)), the path segments to be output by the control are calculated and can be output to the operating mechanism of the axis. A change in the tool path feedrate by means of an override setpoint selection can be effected in the fine interpolator by multiplying the system clocks (T) by a constant factor (f).

Dependencies are inferred from the claim text.