Numerical controller controlling acceleration and deceleration of respective control axes up to command speeds

A numerical controller for synchronously operating a plurality of servomotors connected, the numerical controller comprising:

• actual speed detecting means for detecting actual speeds of control axes controllably driven by the servomotors at the point in time at which the servomotors are switched from a first state in which current is not supplied to the servomotors to a second state in which current is supplied to the servomotors;
• initial speed setting means for setting a common initial speed in move commands for the control axes on the basis of the actual speeds detected by the actual speed detecting means and the speeds specified in the move commands after the servomotors are switched to the second state;
• and
• acceleration and deceleration controlling means for controlling acceleration and deceleration of the control axes up to the speeds specified in the move commands with the initial speed set by the initial speed setting means.

A numerical controller for synchronously operate a plurality of servomotors connected, the numerical controller comprising:

• actual speed detecting means for detecting actual speeds of control axes controllably driven by the servomotors at the point in time at which the servomotors are switched from a first state in which current is not supplied to the servomotors to a second state in which current is supplied to the servomotors;
• initial speed setting means for setting, as a common initial speed in move commands for the control axes, an intermediate speed between the maximum and minimum actual speeds detected by the actual speed detecting means;
• and
• acceleration and deceleration controlling means for controlling acceleration and deceleration of the control axes up to speeds specified in the move commands with the initial speed set by the initial speed setting means.

A numerical controller for synchronously operate a plurality of servomotors connected, the numerical controller comprising:

• actual speed detecting means for detecting actual speeds of control axes controllably driven by the servomotors at the point in time at which the servomotors are switched from a first state in which current is not supplied to the servomotors to a second state in which current is supplied to the servomotors;
• initial speed setting means for setting the actual speeds detected by the actual speed detecting means as initial speeds in move commands for the control axes;
• target axis selecting means for selecting a target axis from among the control axes according to a comparative relationship between the actual speeds detected by the actual speed detecting means and the speeds specified in the move commands after the servomotors are switched to the second state;
• and
• acceleration and deceleration controlling means for controlling acceleration and deceleration of the control axes not selected by the target axis selecting means to attain the position and speed of the target axis at an acceleration or deceleration rate specified in the move command;
• wherein differences in position and speed among the control axes are gradually decreased as the move commands are executed after the servomotors are switched from a first state in which current is not supplied to the servomotors to a second state in which current is supplied to the servomotors.