Servo control system and its control method
AssigneeMitsubishi Denki Kabushiki Kaisha
InventorsKimihiro Mizuno, Nobuyasu Takaki
Life of this patent
Estimating the term…
Abstract
After a controller #1 has started giving an interpolating instruction, the length on an interpolation line is calculated by a first calculation means in synchronism with a clock signal from a clock synchronous circuit 45, and after having executed a first step for generating a synthetic locus-use frame 100 based upon the calculated value, the synthetic locus-use frame 100 is transmitted to controller #2 so that, after controller #2 has executed a second step for receiving a synthetic locus calculation-use frame from a receiving means, controllers #1, #2 execute a third step for calculating the position on the interpolation line based upon the synthetic locus-use frame 100 by using a second calculation means.
Claims6
A servo-control system, comprising:
- a first controller which controls a first and third shafts;
- a second controller which controls a second and fourth shafts;
- wherein
- said first controller includes a first storing means in which information used for calculating the length on a first interpolation line is written, a first calculation means for reading the information from said first storing means to calculate the length on said first interpolation line, a transmitting means, and a receiving means,
- said second controller includes a second storing means in which information used for calculating the length on a second interpolation line is written, a second calculation means for reading the information from said second storing means to calculate the length on said second interpolation line, a transmitting means, and a receiving means, and
- said first and second controllers transmit or receive mutually the lengths on said first interpolation line and second interpolation line through said transmitting means or receiving means, whereby calculating the positions of said first and second axes based upon the length on the first interpolation line, and calculating the positions of said third and fourth axes based upon the length on the second interpolation line.
A control method of a servo-control system using a first controller which controls a first and third shafts and a second controller which controls a second and fourth shafts, and mutually controlling between said first and second controllers, comprising the steps of:
- executing simultaneously a synthetic locus calculation needed for respective axes calculation for said first and second axes in said first controller and a synthetic locus calculation needed for respective axes calculation for said third and fourth axes in said second controller,
- transmitting the result of said synthetic locus calculation in the first controller to the second controller,
- transmitting the result of said synthetic locus calculation in the second controller to the first controller, and
- executing respective axes calculation for said first to fourth axes based upon the result of said synthetic locus calculations.
Dependencies are inferred from the claim text.