JPS54114686A - Positional controller - Google Patents
Positional controllerInfo
- Publication number
- JPS54114686A JPS54114686A JP2155278A JP2155278A JPS54114686A JP S54114686 A JPS54114686 A JP S54114686A JP 2155278 A JP2155278 A JP 2155278A JP 2155278 A JP2155278 A JP 2155278A JP S54114686 A JPS54114686 A JP S54114686A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- execution time
- pulses
- time
- loop
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Landscapes
- Numerical Control (AREA)
Abstract
PURPOSE: To control speed and distribute pulses using the commercial high speed micro-computer step CPU and enable high speed arithmetic operation.
CONSTITUTION: The speed calculation sections (a) and (b) constitute the speed increment register ΣΔVi and the speed register Vi and the means C to analyze difference calculates the balance FN every ΔT. The program step (h) also matches pulse distribution with the execution time. Supposed that the program execution time from A to B is set to the sampling time, pulses can real-time be distributed because it is always executed through the (e) pulse distribution step. That is, the section between A and B is divided into 1 and 2 and the sum of the (l) execution time and the (2) execution time is set to the sampling time ΔT. Thus, the pulses are distributed by passing through the a, b, c, d, h, i, and j loop in the C section by N-l times and the a, b, c, d, e, f, g, h, i, and j loop at the N-th times.
COPYRIGHT: (C)1979,JPO&Japio
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2155278A JPS54114686A (en) | 1978-02-28 | 1978-02-28 | Positional controller |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2155278A JPS54114686A (en) | 1978-02-28 | 1978-02-28 | Positional controller |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS54114686A true JPS54114686A (en) | 1979-09-06 |
Family
ID=12058153
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2155278A Pending JPS54114686A (en) | 1978-02-28 | 1978-02-28 | Positional controller |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS54114686A (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5858609A (en) * | 1981-10-05 | 1983-04-07 | Hitachi Ltd | Locus interpolating method of industrial robot |
JPS60233701A (en) * | 1984-05-07 | 1985-11-20 | Fuji Electric Co Ltd | Acceleration arithmetic device |
JPS61139803A (en) * | 1984-12-12 | 1986-06-27 | Sanesu Shoko:Kk | Numerical control method |
JPS61151701A (en) * | 1984-12-26 | 1986-07-10 | Yaskawa Electric Mfg Co Ltd | Line speed command device |
JPS61271501A (en) * | 1985-05-27 | 1986-12-01 | Kobe Steel Ltd | Acceleration and deceleration control system for ptp teaching type robot |
US4661750A (en) * | 1984-08-22 | 1987-04-28 | Brother Kogyo Kabushiki Kaisha | Device for controlling DC motor |
WO1994012916A1 (en) * | 1992-11-27 | 1994-06-09 | Fanuc Ltd | Acceleration/deceleration control method for servo motor |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4937342A (en) * | 1972-08-12 | 1974-04-06 |
-
1978
- 1978-02-28 JP JP2155278A patent/JPS54114686A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4937342A (en) * | 1972-08-12 | 1974-04-06 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5858609A (en) * | 1981-10-05 | 1983-04-07 | Hitachi Ltd | Locus interpolating method of industrial robot |
JPS60233701A (en) * | 1984-05-07 | 1985-11-20 | Fuji Electric Co Ltd | Acceleration arithmetic device |
US4661750A (en) * | 1984-08-22 | 1987-04-28 | Brother Kogyo Kabushiki Kaisha | Device for controlling DC motor |
JPS61139803A (en) * | 1984-12-12 | 1986-06-27 | Sanesu Shoko:Kk | Numerical control method |
JPS61151701A (en) * | 1984-12-26 | 1986-07-10 | Yaskawa Electric Mfg Co Ltd | Line speed command device |
JPS61271501A (en) * | 1985-05-27 | 1986-12-01 | Kobe Steel Ltd | Acceleration and deceleration control system for ptp teaching type robot |
WO1994012916A1 (en) * | 1992-11-27 | 1994-06-09 | Fanuc Ltd | Acceleration/deceleration control method for servo motor |
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