Method and apparatus for synchrononous multi-axis servo path planning

A motion control system for providing multi-axis control of a multi-axis machine, the system comprising:

• at least two electric motors operatively connected to the multi-axis machine;
• control means for generating commands in accordance with calculated positions set forth in a path planning table;
• motor drive means responsive to the control means and operatively connected to each of said electric motors for controlling the operation of said motors in response to commands received from the control means;
• and
• programming means for generating the path planning table, the programming means including:
• input means for receiving from a user a series of coordinates representing general positions of a machine along a complete cycle,
• means for proportionally spacing the series of coordinates across an entire path based on distance, maximum speed and maximum acceleration factors, and
• means for generating the path planning table from said proportionally spaced series of coordinates to determine said calculated positions based on a predetermined resolution using an S-curve mathematical equation that includes an alpha variable corresponding to an acceleration to jerk ratio, a value of the alpha variable being adjustable to allow for an optimal setting thereof.