IT1264957B1 - Metodo ed apparato per il comando di movimentazione di un utensile. - Google Patents

Metodo ed apparato per il comando di movimentazione di un utensile.

Info

Publication number
IT1264957B1
IT1264957B1 IT93MI001597A ITMI931597A IT1264957B1 IT 1264957 B1 IT1264957 B1 IT 1264957B1 IT 93MI001597 A IT93MI001597 A IT 93MI001597A IT MI931597 A ITMI931597 A IT MI931597A IT 1264957 B1 IT1264957 B1 IT 1264957B1
Authority
IT
Italy
Prior art keywords
segment
speed
predetermined
travel
motors
Prior art date
Application number
IT93MI001597A
Other languages
English (en)
Inventor
Rosario Ferragina
Original Assignee
Balck & Decker Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Balck & Decker Inc filed Critical Balck & Decker Inc
Priority to IT93MI001597A priority Critical patent/IT1264957B1/it
Publication of ITMI931597A0 publication Critical patent/ITMI931597A0/it
Priority to EP94305315A priority patent/EP0636958A1/en
Priority to US08/277,462 priority patent/US5550448A/en
Publication of ITMI931597A1 publication Critical patent/ITMI931597A1/it
Application granted granted Critical
Publication of IT1264957B1 publication Critical patent/IT1264957B1/it

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43009—Acceleration deceleration for each block of data, segment

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Numerical Control (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

Un metodo ed un apparato per il comando di motori per il movimento di un utensile, comprendente un ciclo di controllo con le fasi di calcolare primi e secondi parametri indicativi della velocità da imprimere ai motori per percorrere ad una velocità nominale prestabilita primi e secondi segmenti fra loro sequenziali, e di calcolare il valore assoluto della differenza fra primi e secondi parametri. Se la differenza è minore di un valore limite prestabilito, i motori sono comandati per percorrere il primo segmento alla velocità nominale prestabilita e poi sono comandati per percorrere il secondo segmento con la velocità nominale prestabilita. Se la differenza è maggiore del valore limite, i motori sono comandati per percorrere il primo segmento alla velocità nominale prestabilita fino in prossimità della fine del primo segmento, per rallentare fino ad un valore prestabilito di velocità minima per giungere nel punto di unione fra i due segmenti con tale velocità minima e poi per riaccelerare per seguire il secondo segmento e giungere lungo di esso al valore di velocità nominale prestabilito per esso.
IT93MI001597A 1993-07-20 1993-07-20 Metodo ed apparato per il comando di movimentazione di un utensile. IT1264957B1 (it)

Priority Applications (3)

Application Number Priority Date Filing Date Title
IT93MI001597A IT1264957B1 (it) 1993-07-20 1993-07-20 Metodo ed apparato per il comando di movimentazione di un utensile.
EP94305315A EP0636958A1 (en) 1993-07-20 1994-07-19 Method and apparatus for controlling the movement of a tool
US08/277,462 US5550448A (en) 1993-07-20 1994-07-20 Method and apparatus for controlling the movement of a tool

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT93MI001597A IT1264957B1 (it) 1993-07-20 1993-07-20 Metodo ed apparato per il comando di movimentazione di un utensile.

Publications (3)

Publication Number Publication Date
ITMI931597A0 ITMI931597A0 (it) 1993-07-20
ITMI931597A1 ITMI931597A1 (it) 1995-01-20
IT1264957B1 true IT1264957B1 (it) 1996-10-17

Family

ID=11366638

Family Applications (1)

Application Number Title Priority Date Filing Date
IT93MI001597A IT1264957B1 (it) 1993-07-20 1993-07-20 Metodo ed apparato per il comando di movimentazione di un utensile.

Country Status (3)

Country Link
US (1) US5550448A (it)
EP (1) EP0636958A1 (it)
IT (1) IT1264957B1 (it)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999040493A1 (fr) * 1998-02-05 1999-08-12 Mitsubishi Denki Kabushiki Kaisha Procede permettant de regler le mouvement d'avance d'une machine a commande numerique et machine a commande numerique
US5963003A (en) * 1998-04-22 1999-10-05 Allen-Bradley Company, Llc Method and apparatus for asynchronous multi-axis servo path planning
SE0100974D0 (sv) * 2001-03-20 2001-03-20 Abb Ab Termisk optimeringsmetod
US7431682B2 (en) * 2004-12-17 2008-10-07 Milwaukee Electric Tool Corporation Smart accessories for power tools
WO2019149953A1 (en) * 2018-02-05 2019-08-08 Create It Real Aps A printer for printing a 3d object

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3932796A (en) * 1972-02-09 1976-01-13 Textron, Inc. Control system for producing multi-axis contour movement for a stepping motor drive
JPS55118107A (en) * 1979-03-05 1980-09-10 Hitachi Ltd Method and device for control of automatic working device
US4623971A (en) * 1983-06-30 1986-11-18 Cincinnati Milacron Inc. Machine control with motor velocity constraint
EP0268491A3 (en) * 1986-11-20 1988-08-03 Unimation Inc. Multiaxis robot having improved motion control
JP2679783B2 (ja) * 1987-01-24 1997-11-19 ファナック 株式会社 加減速制御装置
JPH02195409A (ja) * 1989-01-25 1990-08-02 Fanuc Ltd 数値制御装置の送り速度制御方法
JP2742104B2 (ja) * 1989-08-29 1998-04-22 ファナック株式会社 数値制御装置の送り速度制御方法

Also Published As

Publication number Publication date
ITMI931597A1 (it) 1995-01-20
ITMI931597A0 (it) 1993-07-20
US5550448A (en) 1996-08-27
EP0636958A1 (en) 1995-02-01

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Legal Events

Date Code Title Description
0001 Granted
TA Fee payment date (situation as of event date), data collected since 19931001

Effective date: 19960729