Numerical control method and apparatus the same

A numerical control method for controlling the operation of at least one actuator by a servo circuit having a certain characteristic comprising the steps of:

• determining an eigen value (.beta.) by which an amount of movement up to an eigen acceleration and deceleration time (Tp) of said servo circuit becomes one half of a target amount of movement (.DELTA..theta.) which is input;
• determining a value (.beta..multidot..DELTA..theta.) by multiplying the eigen value with the target amount of movement;
• and
• controlling the operation of said actuator during a time from at least the start of the operation to said eigen acceleration and deceleration time by inputting to the servo circuit a step signal of the value (.beta..multidot..DELTA..theta.).

A numerical control apparatus in which a position instruction signal is transmitted to a servo circuit having a certain characteristic from an instruction value generation unit based on input target position information and position information from a position detection unit detecting movement position of the actuator and operation of at least one actuator controlled by this servo circuit, said numerical control apparatus comprising:

• a detected position storage unit storing operation position information of said actuator detected by said position detection unit;
• and
• a storage reading unit reading out the operation position information stored in said detection position storage unit by folding back the same at a middle point of the route based on a signal from said instruction value generation unit and transmitting same to said servo circuit;
• wherein a transmission signal from said instruction value generation unit is a step signal of a value (.beta..multidot..DELTA..theta.) obtained by multiplying with the target amount of movement an eigen value (.beta.) obtained so that the amount of movement up to the eigen acceleration and deceleration time (Tp) of said servo circuit becomes one-half of the target amount of movement (.DELTA..theta.).

A numerical control method for controlling the operation of at least one actuator by a servo circuit having a certain characteristic comprising the steps of:

• determining an eigen value (.beta.) by which an amount of movement up to an eigen acceleration and deceleration time (Tp) of said servo circuit becomes one half of a target amount of movement (.DELTA..theta.) which is input;
• determining a value (.beta..multidot..DELTA..theta.) by multiplying the eigen value with the target amount of movement;
• controlling the operation of said actuator during a time from at least the start of the operation to said eigen acceleration and deceleration time by inputting to the servo circuit a step signal of the value (.beta..multidot..DELTA..theta.);
• storing the operation of said actuator as information at a predetermined time interval;
• folding back the stored information about said eigen acceleration and deceleration time (Tp) as a symmetrical axis to produce operation information;
• and
• controlling the operation of said actuator after said eigen acceleration and deceleration time based on the operation information.