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US 7,095,203 B2Granted
Numerical controller
AssigneeFanuc Corporation
InventorsTakahiko Endo, Yasushi Takeuchi
Life of this patent
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AssigneeFanuc Corporation
InventorsTakahiko Endo, Yasushi Takeuchi
Estimating the term…
A numerical controller which, after once stopping a slave axis during superposing control, can easily resume the superposing control. In the superposing control, a motion amount for a master axis and a motion amount for the slave axis are added to a workpiece coordinate value of the master axis and a workpiece coordinate value of the slave axis, respectively, to update their present position data (I2, II2). These motion amounts are supplied also to servo processing (I3, II3) for the master axis and the slave axis, where an amount obtained by superposing a motion amount δzIm for the master axis ZIm on a motion amount δzIIs for the slave axis ZIIs is supplied to the servo processing for the slave axis ZIIs. When a slave axis motion stop command is issued, the motion of the slave axis is stopped and a motion amount δzIm for the master axis ZIm is subtracted from the workpiece coordinate value of the slave axis ZIIs. This makes it possible to retain the positional relationship between the master axis and the slave axis, and hence easily resume the superposing control when the motion of the slave axis is restarted.
A numerical controller for performing a superposing control to control motion of a slave axis parallel to a master axis for moving a workpiece, by a superposed motion command obtained by superposing a motion command for the master axis on a motion command for the slave axis, comprising:
A method of performing a superposing control to control motion of a slave axis parallel to a master axis for moving a workpiece, by a superposed motion command obtained by superposing a motion command for the master axis on a motion command for the slave axis, comprising:
A numerical controller for performing a superposing control to control motion of a slave axis parallel to a master axis for moving a workpiece, by a superposed motion command obtained by superposing a motion command for the master axis on a motion command for the slave axis, comprising:
Dependencies are inferred from the claim text.