Machine controller with primary and secondary interpolation

A controller for controlling a machine driven by a servomotor, the controller performing an interpolation for a motion path of a machining tool specified by a machining program to output a motion command for each axis of the machine, the controller comprising:

• primary interpolation means for defining a plurality of primary interpolation points based on the specified motion path of the machining tool;
• secondary interpolation means for defining secondary interpolation points on a smooth curve approximated by the primary interpolation points based on the primary interpolation points created by the primary interpolation means;
• acceleration/deceleration control means for performing acceleration/deceleration control of speed in a direction tangential to the smooth curve;
• command analyzing means for analyzing the machining program and converting the machining program to data for the primary interpolation means;
• and
• an intermediate memory interposed between said primary interpolation means and the secondary interpolation means,
• wherein the primary interpolation means outputs data representing a position of a primary interpolation point on the specified motion path in each first sampling period based on the data resulting from conversion by the command analyzing means,
• the intermediate memory temporarily stores data outputted from said primary interpolation means,
• the acceleration/deceleration control means performs acceleration/deceleration control based on the data stored in said intermediate memory, and calculates speed in the direction tangential to said smooth curve in each second sampling period, and
• the secondary interpolation means defines the smooth curve based on an output from the acceleration/deceleration control means and the data stored in said intermediate memory, and outputs data expressing a position of a secondary interpolation point on the smooth curve in said each second sampling period.

A controller for controlling a machine driven by a servomotor, the controller performing an interpolation for a motion path of a machining tool specified by a machining program to output a motion command for each axis of the machine, the controller comprising:

• a primary interpolation device defining a plurality of primary interpolation points based on the specified motion path of the machining tool;
• an acceleration/deceleration control device performing acceleration/deceleration control of speed based on the primary interpolation points defined by said primary interpolation device;
• and
• a secondary interpolation device defining secondary interpolation points on a smooth curve approximated by the primary interpolation points based on an output of the acceleration/deceleration control device and the primary interpolation points defined by the primary interpolation device.

A controller for controlling a machine driven by a servomotor, the controller performing an interpolation for a motion path of a machining tool specified by a machining program to output a motion command for each axis of the machine, the controller comprising:

• a primary interpolation device defining a plurality of primary interpolation points based on the specified motion path of the machining tool;
• a secondary interpolation device defining secondary interpolation points on a smooth curve approximated by the primary interpolation points based on the primary interpolation points created by the primary interpolation device;
• an acceleration/deceleration control device performing acceleration/deceleration control of speed in a direction tangential to the smooth curve;
• a command analyzing device analyzing the machining program and converting the machining program to data for the primary interpolation device;
• and
• an intermediate memory interposed between the primary interpolation device and the secondary interpolation device,
• wherein the primary interpolation device outputs data representing a position of a primary interpolation point on the specified motion path in each first sampling period based on the data resulting from conversion by the command analyzing device,
• the intermediate memory temporarily stores data outputted from the primary interpolation device,
• the acceleration/deceleration control device performs acceleration/deceleration control based on the data stored in the intermediate memory, and calculates speed in the direction tangential to the smooth curve in each second sampling period, and
• the secondary interpolation device defines the smooth curve based on an output from the acceleration/deceleration control device and the data stored in the intermediate memory, and outputs data expressing a position of a secondary interpolation point on the smooth curve in the each second sampling period.

A method of controlling a machine driven by a servomotor, the machine including a machining tool having a motion path specified by a machining program, comprising:

• performing a primary interpolation of the motion path specified by the machining program to define a plurality of primary interpolation points;
• performing acceleration/deceleration control of speed based on the primary interpolation points defined by said primary interpolation;
• and
• performing a secondary interpolation defining secondary interpolation points on a smooth curve approximated by the primary interpolation points based on an output of the acceleration/deceleration control and on the primary interpolation points defined by said primary interpolation.

A method of controlling a machine driven by a servomotor, the machine including a machining tool having a motion path specified by a machining program, comprising:

• analyzing the machining program and converting the machining program to data;
• performing a primary interpolation of the data resulting from converting the machining program to data, the primary interpolation defining a plurality of primary interpolation points on the motion path specified by the machining program;
• temporarily storing the data resulting from performing the primary interpolation;
• performing acceleration/deceleration control based on the temporarily stored data, the acceleration/deceleration control calculating speed;
• and
• performing a secondary interpolation based on the temporarily stored data and the calculated speed, the secondary interpolation defining a smooth curve.