TW201024941A - Numerical control device and the method thereof - Google Patents

Abstract

A motion program method of a numerical control device is designed for a motion path of an object which needs to move on the path back and forth. The motion program of the present invention depend upon the length of a path, the maximum value selected of the absolute value of motion velocity, the maximum value selected of the absolute value of motion acceleration, and the maximum value selected of the absolute value of motion jerk to be designed to let a object controlled move with less vibration and less motion time.

Description

201024941 VI. Description of the Invention: [Technical Field] The present invention relates to a digital control device and a control method thereof, and more particularly to a digital control device having a motion range specification for a digital control device for mechanical equipment For example, the digital control device of CNC lathe, the digital control device of cNc milling machine, the digital control device of tapping machine or the digital control of drilling machine. [Prior Art] ® For mechanical devices that need to reciprocate in the same straight path, such as a tapping machine or a drilling machine, the traditional digital control device controls the mechanical device when it is controlled. The movement impulse (JERK) is controlled to reduce the vibration of the machine', which in turn improves the accuracy of the workpiece and increases the service life of the machine. Therefore, in order to achieve the above control method, it is usually necessary to generate a time-speed motion profile, as shown in Fig. 1. For example, U.S. Patent No. 20080032604 discloses a cam (CAM) for generating motion planning. This motion schedule will use the non-zero impulse to reduce the twisting speed (ACCELERATION) and speed (VELOCITY) to standstill at the turn-back point, as in steps 7 and 8 of Figure 1, and also at Use non-zero impulses to increase acceleration and speed at rest. However, such a control method has the following two disadvantages: 1. Deceleration or acceleration of waste machining time with non-zero equal impulse at the turning point; 2_ Impulse that is not zero during the reentry motion will cause excessive vibration of the machine and decrease Mechanical life. SUMMARY OF THE INVENTION In order to solve the problems and disadvantages in the prior art, one of the main objects of the present invention is to provide a digital control device capable of generating an appropriate motion gauge 3 201024941 according to the length of a straight path of a mechanical device, so that when the mechanical device moves to When approaching the turning point, the deceleration mode that maintains the zero impulse is decelerated to zero, and then the acceleration motion of the zero impulse is made back 'to make the impulse after the turning point constant to be zero', so the mechanical excess vibration can be reduced', so that the precision of the machining is made. improve. Another main object of the present invention is to provide a motion gauge that can generate a corresponding machining program in a digitally controlled oscillation according to a machining program of a mechanical device, a maximum impulse value, and an acceleration maximum value; The maximum value is used to generate the motion map, so the motion can be completed in the shortest time. A further primary object of the present invention is to provide a digital control device that can generate an appropriate range gauge based on a machining program, a maximum impulse value, and an acceleration maximum value of the mechanical device, wherein during the execution of the motion gauge, When the impulse is not zero, the maximum impulse is moved, and the impulse is zero, the maximum acceleration motion, the maximum deceleration motion, or the maximum speed and the like, so that the vibration phenomenon of the mechanical device can be greatly reduced. To protect and extend the life of the mechanical device. In accordance with the above objects, the present invention first provides a digital control device for controlling a mechanical device to reciprocate between a starting point and a turning point of a same straight path, wherein the digital control device is characterized by: controlling the movement of the mechanical device In the process, the speed and impulse of the mechanical device passing through the turning point are zero and the acceleration is not zero. The invention further provides a digital control system comprising a controllable mechanical f-position and a digital control device for controlling a mechanical device to reciprocate between a starting point and a turning-back point of the same path, wherein the digital position The control device is characterized in that, during the movement of the control mechanism, the speed and impulse of the mechanical device passing through the turning point are zero and the acceleration is not zero. The present invention further provides a motion planning method for a digital control device, package 4

201024941 includes: providing-processing program; providing an impulse value of the mechanical device to be controlled; providing an acceleration value of the motor for driving the mechanical device; generating a velocity schedule based on the motion schedule of the speed and time Added program, impulse value and acceleration value. The present invention further provides a method of motion planning for a digital control device, comprising: providing a pacing program; providing an impulse value of the mechanical device to be controlled; providing an acceleration value of the motor for driving the mechanical device; generating - Speed and time of the motion gauge 1 动 The motion planning is generated according to the guard program, the impulse value and the acceleration value; when the speed and time are planned, the absolute value of the speed can reach the maximum value. The control flow is as follows: a. Provide a mechanical farm, prepare to start the action at the starting point; b. Control the mechanism so that the absolute value of the impulse is equal to the acceleration of the leg toward the turning point until the absolute value of the acceleration reaches Amax c. Control the mechanical device toward the turning point with the acceleration and the value equal to the A plane for the same acceleration motion; d. When the absolute value of the speed reaches 乂_, the mechanical device is controlled so that the absolute value of the impulse is equal to! Max moves toward the return point with deceleration to the speed absolute value equal to Vmax; e. controls the mechanical set speed to be equal to the degree of motion;

Vmax makes a constant speed toward the turning point. f. When (4) starts to decelerate, the control (4) mechanical device makes the absolute value of the impulse equal to Jmax toward the turning point and moves to the acceleration and deceleration to the absolute value of the acceleration equal to Amax; g. control the machine | The point is moved to the turning point with the absolute value of the acceleration A, and the speed is just zero when the mechanism is moved to the turning point; 5 201024941 h. Control the mechanism to the starting point with the absolute value of the acceleration equal to Αιη& For the acceleration movement; i. When the absolute value of the speed reaches Vmax, the mechanical device is controlled so that the absolute value of the impulse is equal to Jmax and the acceleration is reduced to the initial value of the speed to the maximum speed equal to Vmax; j. controlling the mechanism to the speed The absolute value is equal to Vmax and the isokinetic motion is made to the turning point; k. When the deceleration needs to be started, the mechanical device is controlled to make the absolute value of the impulse

Equivalent to Jmax toward the turning point to reduce the acceleration to the absolute value of the acceleration equal to Amax; l. When the starting point is reached, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax toward the starting point for the deceleration movement; m. When the mechanical device moves to the starting point, the speed, acceleration and impulse of the starting point are both zero. [Embodiment] The present invention discloses a digital control device having a motion range and a control method thereof, so that the digital control device can control the mechanical device. Therefore, in the following description, the digital control device generates a dynamic range in detail. There are a number of methods in the specification, and the mechanical devices controlled by the digital control device (such as the digital control device of the cnc lathe, the digital control device of the tapping machine, or the digital control of the drilling machine, etc.) are not fully described. In addition, the schematics of the motion planning mentioned in the present invention are not completely drawn according to the actual relevant dimensions, and their functions are only to express the schematic diagrams related to the present creative features. In addition, the various descriptions of the following description are illustrative of the invention and are not intended to limit the invention. The present invention is a control method for controlling the movement of a mechanical device using a digital control device. The 201024941 control method is a control method for a machine that performs a reciprocating motion on the same-line transport path. Since the mechanical device does not have the same path to perform the reinforcement every time, the digital control device must complete the processing route to be performed at the fastest speed for the path of different stroke lengths. For convenience of explanation, we use the following symbols:

Vmax represents the maximum value of the preset absolute value of the speed;

Amax represents the maximum value of the absolute value of the preset acceleration;

Jmax represents the maximum value of the absolute value of the preset impulse. When a digital control device is used to control the motion of the mechanism, the maximum impulse of the mechanism is known; and the maximum value of the acceleration that can be provided by the motor that drives the motion of the mechanism is also known. When the mechanical device is a tapping machine, the program to be processed (for example, a hole to be attacked by 5 minimeterm degrees) can be input to the digital control device, and then the maximum value of the known mechanical device is set to a preset impulse. The absolute value of the maximum value Jmax, and the known motor acceleration maximum value set to the preset maximum value of the absolute value of the acceleration Amax are also input to the digital control device to generate a corresponding speed and time motion planning . Obviously, the maximum impulse of the mechanical device and the maximum acceleration that the motor can provide are known and fixed. Therefore, the motion planning generated by the digital control device will have different speeds depending on the stroke to be processed. The schedule with time. However, the digital control device of the present invention can make the mechanical device can travel outside the full stroke in the shortest time according to the path of different stroke lengths; and another advantage is that "the starting point and the turning point of the mechanical device movement" The distance is equal to the length of the reciprocating path of the mechanism." This advantage ensures that the depth of the tapping machine's tapping is maintained at the same depth. First, a first preferred embodiment of the present invention will be described. When the machining stroke of the mechanical device is sufficient to make the absolute value of the speed reach the preset maximum value, the digital control device performs 7 201024941 = the speed corresponding to the control _ time map, the acceleration time chart and the impulse time chart are not the second Figure, Figure 3 and Figure 4; the following are the control steps: I machine is ready to start at the starting point of the stroke; 2. Control the machine so that the absolute value of the impulse is equal to Jmax and accelerate the movement to the turning point until the absolute value of the acceleration reaches Amax; Controlling the machine toward the turning point with an absolute acceleration equal to Amax for equal acceleration motion;

4. When the absolute value of the speed reaches Vmax, the machine is controlled so that the absolute value of the impulse is equal to Jmax toward the turning point and the deceleration is moved to the absolute value of the speed equal to Vmax; 5. The absolute value of the control mechanical speed is equal to vmax and the equal speed is moved toward the turning point; When it is necessary to start deceleration, the control machine makes the absolute value of the impulse equal to

Jmax moves toward the turning point at the acceleration and deceleration rate until the absolute value of the acceleration is equal to Amax. 7. The control machine moves to the turning point with the absolute value of the acceleration equal to Amax, and the speed is just zero when the mechanical movement is to the turning point; The starting point is the acceleration with the absolute value of the acceleration equal to Amax. 9. When the absolute value of the speed reaches Vmax, the machine is controlled so that the impulse is equal to the value of Jmax toward the starting point and the acceleration is reduced to the absolute value of the speed:

Vmax ; 10. Control the mechanical speed absolute value equal to Vmax to the turning point for equal speed movement; When it is necessary to start deceleration, the control machine makes the absolute value of the impulse equal to 201024941

Jmax moves toward the turning point with deceleration to the absolute value of the acceleration equal to Amax; 12·When the starting point is 'control the machine so that the absolute value of the impulse is equal to Jmax towards the starting point for the deceleration movement so that when the machine moves to the starting point, and the speed of the starting point, The acceleration and the impulse are all zero; i3. Finally, the mechanical device moves to the starting point and the process ends. Obviously, in the present embodiment, 'when the digital control device controls the mechanical device to pass through the turning point,' the speed and impulse of the mechanical device are just zero, and at the same time the 'digital control device controls the acceleration of the mechanical device through the turning point. The absolute value is not zero, so the vibration of the machine can be reduced, so that the precision of the processing is increased. In addition, in the process of executing the motion gauge of the embodiment, the mechanical device has the maximum impulse at the point where the impulse is not zero. Movement, and the impulse is zero, the maximum acceleration motion, the maximum deceleration motion, or the maximum speed and the like, so that the vibration phenomenon of the mechanical device can be greatly reduced to protect and extend the life of the mechanical device. Next, a second preferred embodiment of the present invention will be described. When the machining stroke of the mechanical device is insufficient to make the absolute value of the mechanical device reach Vmax, and the maximum absolute value of the acceleration reaches Amax, the digital control device of the embodiment performs the speed-time map and the acceleration_time map corresponding to the control. And the impulse time map are shown in Figure 5, Figure 6, and Figure 7, respectively; the following are the control steps: 1. Provide a mechanical device to start the action at the starting point; 2. Control the mechanism so that its impulse is absolute The value is equal to jmax to accelerate the movement to the point of reciprocation until the absolute value of the acceleration reaches Amax; 3. The control mechanism moves toward the turning point with the absolute value of the acceleration equal to Amax for the equal addition motion; 4. When the need to prepare to start deceleration, the control mechanism Make the impulse absolute 9 201024941 value equal to Jmax towards the turning point to reduce the acceleration to zero acceleration; 5. Control the mechanical device so that the absolute value of the impulse is equal to Jmax toward the turning point to increase or decrease the acceleration to the absolute value of the acceleration equal to Amax; 6. Control machinery The device moves toward the turning point with the absolute value of the acceleration equal to Amax for the deceleration to make the machine When the motion is moved to the turning point, the speed is just zero; 7. The control mechanism moves toward the starting point with the absolute value of the acceleration equal to Amax for the equal acceleration; 8. When it is necessary to start the deceleration, the mechanical mechanism is controlled so that the absolute value of the impulse is equal to Jmax. Move toward the starting point with deceleration to the acceleration equal to zero; 9. Control the machine to make its impulse simple value equal; max to the starting point to increase or decrease the acceleration to the absolute value of the acceleration equal to Amax; 1〇, will be at the starting point The control mechanism is such that the absolute value of the impulse is equal to Jmax moving toward the starting point for deceleration; when the mechanical device moves to the starting point, the velocity, acceleration, and impulse of the starting point are both zero; At the beginning, the process ends. Obviously, in the present embodiment, when the digital control device controls the mechanical device to pass through the turning point, the speed and impulse of the mechanical device at this time is just zero, and at the same time, the digital control device controls the acceleration of the mechanical device through the turning point. The absolute value is not zero, so that the mechanical unnecessary vibration can be reduced, so that the precision of the processing is improved; moreover, in the process of executing the motion planning of the embodiment, the mechanical device moves at the maximum impulse when the impulse is not zero. The impulse is zero, the maximum acceleration motion, the maximum deceleration motion, or the maximum speed and the like, so that the vibration phenomenon of the mechanical device can be greatly reduced to protect and extend the life of the mechanical device. Next, a third preferred embodiment of the present invention will be described. When the mechanical device is added 201024941

ι·Provides a mechanical device, - time map, acceleration-time map, and the 9th and 1st map of the impulse; the following is the control step: ready to start the action at the starting point; 2' control the mechanical device to make it rush 4_value is equal to 〖max to accelerate the movement to the turning point; _When it is necessary to prepare to start deceleration, '(4) the thief device makes its absolute value equal to Jmax toward the turning point to reduce the acceleration to the acceleration equal to zero; 4_ control mechanical device, so that The absolute value of the impulse is equal to Jmax, and the movement of the acceleration and deceleration is such that the absolute value of the acceleration does not exceed Amax; 5_determine whether the absolute value of the acceleration before the mechanical device reaches the return point reaches the maximum value Amax 'When the absolute value of the acceleration reaches the maximum value, the flow Skip to step 6 'Other flow jumps to step 7; 6. Control the mechanism to decelerate the absolute value of acceleration Amax to the turn-back point' and jump to process step 8 when the mechanical device is at zero speed at the turn-back point; Control the mechanical device such that the absolute value of the impulse is equal to Jmax and moves toward the turning point at the acceleration and deceleration rate until the turning point, and when the speed of the mechanical device is zero When the process jumps to step 9 (not shown in the figure); 8_ control the mechanical device toward the starting point with the absolute value of the acceleration equal to Amax for the equal acceleration motion, the flow jumps to step 10; 9. Control the mechanical device so that it The absolute value of the impulse is equal to jmax and moves to the starting point with deceleration until the acceleration is equal to zero. The flow jumps to step U (not shown in the figure); 11 201024941 ίο. When it is necessary to start to decelerate, the control mechanism makes the impulse absolute. The value is equal to Jmax moving toward the starting point with the deceleration to the acceleration equal to zero, the flow jumps to step 12; 11. The control mechanism is such that the absolute value of the impulse is equal to Jmax moving toward the starting point at the acceleration and deceleration until the starting point, and The speed, acceleration and impulse of the starting point are all zero, and the process ends (not shown in the figure). 12. Control the mechanical device so that the absolute value of the impulse is equal to Jmax, and the movement is accelerated at the acceleration and deceleration. The flow jumps to step 13. ;

13_When the starting point is reached, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax and the deceleration motion is started to the starting point until the starting point, and the speed, acceleration and impulse of the starting point are both zero; Finally, the mechanical device moves to the starting point and the process ends. Obviously, in the present embodiment, when the digital control device controls the mechanical device to pass through the turning point, the speed and impulse of the mechanical device at this time is just zero, and at the same time, the digital control device controls the acceleration of the mechanical device through the turning point. The absolute value is not zero, so that the mechanical unnecessary vibration can be reduced, so that the precision of the processing is improved; in addition, in the process of executing the motion gauge of the embodiment, the mechanical device moves at the maximum impulse at a position where the impulse is not zero. And the rushing (four) zeros, such as the maximum acceleration motion, the maximum deceleration motion, or the maximum speed and other speed movements, can greatly reduce the vibration phenomenon of the mechanical device movement, to protect and extend the machine, and then to cope with the poor Fourth preferred embodiment. When the machining stroke of the mechanical device; ^ makes the speed depend on _Vmax, but the V setting is too small to make the absolute value insufficient to reach Α·, the digital control device performs the control of the lean, the speed, the time, the acceleration time map and The impulse time maps are shown in Figure 11, Figure 12, and Figure 13, respectively. The following are the control steps: 12 201024941 1. The machine is ready to start at the starting point of the stroke; 2. The mechanical device is controlled so that the absolute value of the impulse is equal to

Jmax is added to the turning point to accelerate the movement; 3_ When the absolute value of the speed reaches Vmax, the control machine makes the absolute value of the impulse equal to Jmax toward the turning point to reduce the acceleration to the absolute value of the speed equal to Vmax; 4. The absolute value of the control mechanical speed is equal to Vmax makes equal-speed motion towards the turning point; 5. When the need to start deceleration, 'control the mechanical device so that the absolute value of the impulse is equal to Jmax. The turning point is moved at the acceleration and deceleration so that the absolute value of the acceleration does not exceed Amax. 6. Judging the mechanical device to the turning point Whether the absolute value of the previous acceleration reaches the maximum value Amax 'When the absolute value of the acceleration reaches the maximum value, the flow jumps to step 7, otherwise the flow jumps to step 8; 7. Controls the mechanical device to decelerate the absolute value of the acceleration Amax to the turning point And when the speed of the mechanical device is exactly zero at the turning point, the acceleration is not zero, skip to the process step 9; I 8. Control the mechanical device so that the absolute value of the impulse is equal to Jmax, and the movement to the turning point is increased and decreased until the turning point And when the speed of the mechanical device is zero, the flow jumps to step 10 (not shown in the figure); 9. Control machinery When the acceleration point is equal to Ainax for equal acceleration motion, the flow jumps to step 11; 10. Control the mechanism so that the absolute value of the impulse is equal to Jmax moving toward the starting point with deceleration until the acceleration is equal to zero. The flow jumps to step 11 (not shown in the figure); 11. When the absolute value of the speed reaches Vmax, the machine is controlled so that the absolute value of the impulse is equal to Jmax. The acceleration is reduced to the starting point with the deceleration to the absolute value equal to 13 201024941

Vmax ; 12. Control the mechanical speed absolute value equal to Vmax to the same starting point for the same speed motion; 13 · When the need to start deceleration, control the mechanical device, so that the absolute value of the impulse is equal to Jmax toward the starting point to increase and decrease the speed so that the acceleration is absolutely The value does not exceed Amax; 14. When the starting point is reached, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax, the deceleration motion is reduced to the starting point until the starting point, and the speed, acceleration and impulse of the starting point are made. Both are zero and the process ends. Obviously, in the present embodiment, when the digital control device controls the mechanical device to pass through the turning point, the speed and impulse of the mechanical device at this time is just zero, and at the same time, the digital control device controls the acceleration of the mechanical device through the turning point. The absolute value is not zero, so the vibration of the machine can be reduced, so that the precision of the processing is improved. In addition, in the process of executing the motion gauge of the embodiment, the mechanical device has the maximum impulse at the point where the impulse is not zero. Movement, and the impulse is zero, the maximum acceleration motion, the maximum deceleration motion, or the maximum speed and the like, so that the vibration phenomenon of the mechanical device can be greatly reduced to protect and extend the life of the mechanical device. After actual test comparison, after the test device of the present invention and the control method of the prior art are tested; if the acceleration is 〇2 seconds to 6 turns, the spindle speed is 6000 rpm, the β distance is 2 mm, the feed depth is 9 mm, The M3 tooth test, ° shows that the prior art control method requires 0.8503 seconds for a single hole tapping time' and is required by the control device of the present invention. .7982 seconds; if the teeth are accelerated to 6000 han, Φ 4 speed 6000 rpm, R point distance 2 mm, feed depth 18 mm, the results show that the prior art control method is in a single hole The door requires 88100 seconds for tapping, and 0.7569 seconds for the control device of the present invention; 201024941 The control device of the present invention saves more than six percent of the time compared to the prior art. The above description of the preferred embodiments of the present invention is intended to be illustrative, and is not intended to limit the scope of the invention. Therefore, the technical idea of the present invention will be determined by the following claims and their equals. [Simple diagram of the diagram] Figure 1 is the speed-time diagram of the previous motion planning technique. ❿ Figure 2 Figure. Speed-Time, which is a preferred embodiment of the motion profile of the present invention. Figure 3 is an acceleration-time diagram of the corresponding Figure 2 of the present invention. Figure 4 is an impulse-time diagram of the corresponding Figure 2 of the present invention. Figure 5 is a velocity versus time diagram of another preferred embodiment of the motion profile of the present invention. Figure 6 is an acceleration-time diagram of the corresponding Fig. 5 of the present invention. Figure 7 is an impulse-time diagram of the corresponding Figure 5 of the present invention. Figure 8 is a picture. A speed-time diagram of a further preferred embodiment of the motion profile of the present invention is shown in Figure 9 as an acceleration-time diagram of the corresponding Figure 8 of the present invention. Figure 10 is an impulse-time diagram of the corresponding Figure 8 of the present invention. Figure 11 is a velocity-time diagram of still another preferred embodiment of the motion profile of the present invention. Figure 12 is an acceleration-time diagram of the corresponding Fig. 11 of the present invention. Figure 13 is an impulse-time diagram of the corresponding Fig. 11 of the present invention. [Main component symbol description]

Vmax presets the maximum value of the absolute value of the speed; 15 201024941

❿

Amax The maximum value of the absolute value of the acceleration;

Jmax The maximum value of the absolute value of the impulse. S starting point X turning point 16

Claims (1)

201024941 VII. Patent application scope: 1. A digital control device for controlling a mechanical device to reciprocate between a starting point and a turning point of a same path, wherein the digital control device is characterized by: at least during the control thereof The speed and impulse of the mechanical device passing through the turning point are zero and the acceleration is not zero. 2. The digital control device of claim 1, wherein the distance between the starting point and the turning point is the length of the reciprocating path. The digital control device of claim 1, wherein the mechanical device has an absolute value of the motion impulse of the mechanical device that does not exceed a preset maximum value during the entire motion stroke. 4. The digital control device of claim 1, wherein the mechanical device has an absolute value of acceleration that does not exceed a predetermined maximum value during the entire movement. The digital control device of claim 1, wherein the mechanical device has an absolute value of the mechanical device that does not exceed a predetermined maximum value during the entire movement. 6. The digital control device of claim 1, wherein the digital control device controls the absolute value of the speed at which the mechanical device moves from the starting point to the turning point to a preset maximum value. 7. The digital control device according to claim 1, wherein the digital control device controls the absolute value of the acceleration and deceleration when the mechanical device moves from the starting point to the turning point to be equal to a preset maximum value. Acceleration and deceleration, and the absolute value of the deceleration is equal to the preset maximum value after the deceleration. 8. A digital control system comprising a controllable mechanical device and a digital control device for controlling the mechanical device to reciprocate between a start point and a return point from the same path 17 201024941, wherein The digital control system is characterized in that: the digital control device performs at least the speed and impulse of the mechanical device through the turning point and the acceleration is not zero during the execution of the control thereof. 9. The digital control system of claim 8, wherein the distance between the starting point and the turning point is the length of the reciprocating path. The digital control system of claim 8, wherein the mechanical device has an absolute value of the motion impulse of the mechanical device not exceeding a preset maximum value during the entire motion stroke. The digital control system of claim 8, wherein the mechanical device accelerates the absolute value of the mechanical device during the entire movement without exceeding a preset maximum value. 12- The digital control system of claim 8, wherein the mechanical device has an absolute value that does not exceed a predetermined maximum value during the entire movement of the mechanical device. The digital control system of claim 8, wherein the digital control device controls the absolute value of the speed of φ to reach a preset maximum value when the mechanical device moves from the starting point to the turning point. The digital control system of claim 8, wherein the digital control device controls the absolute value of the acceleration and deceleration when the mechanical device moves from the starting point to the turning point is equal to a preset maximum value. Acceleration and deceleration, and the absolute value of the deceleration is equal to the preset maximum value after the deceleration. 15. The digital control system of claim 8 wherein the mechanical device is selected from the group consisting of: a CNC lathe, a CNC milling machine, a tapping machine, and a drilling machine. 201024941 16. A method for controlling a motion of a digital control device, comprising: providing a processing program; providing an impulse value of a mechanical device to be controlled; providing an acceleration value of the motor for driving the mechanical device; generating a The velocity and time motion planning, wherein the motion planning is generated according to the processing program, the impulse value, and the acceleration value. 17. The method of motion planning according to item 16 of the patent application, wherein the impulse value is a maximum impulse value (Jmax) of the mechanical device. 18. The method of claim 1, wherein the acceleration value is a maximum acceleration value (Amax) of the motor. 19. The method of motion planning according to claim 16, wherein the impulse value is a maximum impulse value (Jmax) of the mechanical device and the acceleration value is a maximum acceleration value (Amax) of the motor. 20. The method according to claim 19, wherein in the speed and time schedule, the absolute value of the speed can reach a maximum value (Vmax) 〇 21. For example, the scope of patent application The motion planning method of claim 20, wherein the control flow of the motion planning method is as follows: a. providing a mechanical device to prepare for starting the action at the starting point; b. controlling the mechanical device such that the impulse value is absolute Equivalent to Jmax toward the reentry point for accelerating motion until the absolute value of the acceleration reaches Amax; c. Control the mechanical device toward the reentry point with the absolute value of the acceleration equal to Amax for the same acceleration motion; d. When the absolute value of the speed reaches Vmax, control the machine The device is such that the absolute value of the impulse is equal to Jmax toward the turning point and the deceleration is moved to the absolute value of the speed equal to Vmax; 19 201024941 e. The absolute value of the speed of the control device is equal to Vmax, and the speed is equal to the turning point; f. Controlling the mechanism such that the absolute value of the impulse is equal to Jmax toward the turning point and moving to the acceleration and deceleration to the absolute value of the acceleration equal to Amax; g. controlling the machine Means towards the back point absolute value is equal to the acceleration Amax to be folded like motion deceleration point, and such that the mechanical movement means when folded to exactly zero velocity point, the process ends. 22. The method of motion planning as described in claim 20, wherein the control flow of the process specification method is as follows: a. providing a mechanical device to prepare for starting operation at the starting point; b. controlling the machine The device is such that the absolute value of the impulse is equal to Jmax, and the acceleration is increased to the absolute value of the acceleration to reach Amax; c. controlling the mechanical device to move toward the turning point with the absolute value of the acceleration equal to Amax for the same acceleration motion; d. when the absolute value of the speed is fast When the Vmax is reached, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax toward the turning point and the deceleration is moved to the absolute value of the speed equal to Vmax; e. controlling the absolute speed of the mechanical device to be equal to Vmax and moving at the same speed as the turning point; f. When it is necessary to start deceleration, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax, and the movement to the reciprocating point is increased to the acceleration absolute value equal to Amax; g. The mechanical device is controlled to the turning point with the absolute value of the acceleration equal to Amax for the deceleration motion. To the return point and the speed of the mechanism to the point of return to the point of return is zero; 20 201024941 h. Control the machine The device is moving toward the starting point with the absolute value of the acceleration equal to Amax for the same acceleration; 1 When the absolute value of the speed reaches Vmax, the mechanical device is controlled so that the absolute value of the impulse is equal to jmax. The acceleration is moved to the starting point with the deceleration to the absolute value of Vmax. j. Control the mechanism until the absolute value of the speed equals Vmax to the equal-return motion at the turning point; k. When the need to start deceleration, 'control the mechanism so that the absolute value of the impulse is equal to Jmax toward the turning point to reduce the acceleration to the absolute acceleration The value is equal to Amax; l. When the starting point is reached, the mechanism is controlled such that the absolute value of the impulse is equal to Jmax and the deceleration motion is started toward the starting point; m. when the mechanism moves to the starting point, the starting The speed, acceleration and impulse of the point are all zero and the process ends. 23. The method of motion planning according to claim 20, wherein in the range of speed and time, the absolute value of the acceleration reaches a maximum value (Amax), and the absolute value of the speed does not reach The maximum value (Vmax) 〇24. The method of motion planning according to claim 23, wherein the control flow of the motion planning method is as follows: a. providing a mechanical device to prepare for starting at the starting point b. control the mechanical device such that the absolute value of the impulse is equal to Jmax and accelerates to the point of return to the absolute value of the acceleration to reach Amax; c. control the mechanical device toward the turning point with the absolute value of the acceleration equal to Amax for the same acceleration motion; d · When it is necessary to start to decelerate, control the mechanism so that the absolute value of the impulse is equal to Jmax toward the turning point and the acceleration is reduced to zero. 21 201024941 e. Control the mechanical device so that the absolute value of the impulse is equal to Jmax toward the regress point Move at acceleration and deceleration until the absolute value of the acceleration is equal to Amax; f. Control the mechanical device toward the return point with the absolute value of the acceleration equal to Amax for the same deceleration motion Turn-around point, and when the moving mechanism so that the turn-back points to exactly zero velocity, the flow ends. 25_ The method of motion planning as described in claim 23, wherein the control flow of the dynamic light painting method is as follows: a. providing a mechanical device to prepare for starting operation at the starting point; b. controlling the mechanical device such that the absolute value of the impulse is equal to Jmax and the acceleration movement to the return point reaches the acceleration absolute value reaches Amax; c. controlling the mechanical device toward the turning point to accelerate the absolute value of the acceleration equal to Amax; d' When it is necessary to prepare to start deceleration, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax toward the turning point and the acceleration is reduced to zero by the deceleration; e. The mechanical device is controlled such that the absolute value of the impulse is equal to jmax and the moving to the turning point is increased and decreased to The absolute value of the acceleration is equal to Amax; f. controlling the mechanical device to move to the turning point with the absolute value of the acceleration equal to Amax for the deceleration point, so that the speed of the mechanical device to the turning point is just zero; g. controlling the mechanism To the starting point, the absolute value of the acceleration is equal to Amax for the same acceleration motion; h_ When it is necessary to start the deceleration, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax and the acceleration is reduced to zero at the starting point; L controls the machine The device makes the absolute value of the impulse equal to Jmax towards the starting point to accelerate and decelerate The absolute value of motion to acceleration is equal to Amax; j. When the starting point is reached, the mechanical device is controlled such that the absolute value of the impulse is equal to 22 201024941 Jmax for the deceleration movement towards the starting point; k. when the mechanical device moves to the beginning Point, so that the speed, acceleration, and impulse of the starting point are all zero, and the process ends. 26. The method of claim 2, wherein the absolute value of the additivity does not reach a maximum value (Amax), and the absolute value of the speed is as specified in the scope of the patent application. The value does not reach the maximum value (Vmax). 27. The method of motion planning as described in item 26 of the s# scope of the patent, wherein the control flow of the motion planning method is as follows: a. providing a mechanical device to prepare for starting operation at the starting point; b. controlling The mechanical device is such that the absolute value of the impulse is equal to jmax to accelerate the movement to the turning point; c. when it is required to start deceleration, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax toward the turning point and the acceleration is reduced to zero. d. Control the mechanical device such that the absolute value of the impulse is equal to jmax and the movement to the reciprocating point is such that the absolute value of the acceleration does not exceed Amax; e. determine whether the absolute value of the acceleration before the mechanical device reaches the turning point reaches the maximum value Amax, when the acceleration When the absolute value reaches the maximum value, the flow jumps to f, otherwise the flow jumps to g; f. Controls the mechanism to decelerate to the return point with the absolute value of acceleration Amax, and the speed is exactly zero at the turning point; g. Continue control control The mechanical device makes the absolute value of the impulse equal to Jmax moving toward the turning point at the acceleration and deceleration point until the turning point and making the speed zero at this time, the flow End. 28. The method of motion planning as described in claim 26, wherein the control flow of the motion planning method is as follows: a. providing a mechanical device to prepare for starting operation at the starting point; 23 201024941 b. (4) The mechanical device is such that its absolute value is equal to! The surface point is used for acceleration and acceleration; C. When it is necessary to prepare to start deceleration, the mechanical device is controlled such that its rush value is equal to Max and the retracement point is moved to the acceleration to the acceleration equal to zero; d. The mechanical device is controlled such that the absolute value of the impulse is equal to 】 Facing the turning point to move at the acceleration and deceleration so that the absolute value of the acceleration does not exceed Amax; e. Determine whether the absolute value of the acceleration before the mechanical device reaches the turning point reaches the maximum value Amax. When the absolute value of the acceleration reaches the maximum value, the flow jumps to f, otherwise the flow jumps to g; f. controls the mechanical device to make the acceleration The absolute value Amax decelerates to the return point, and when the mechanical device is at zero at the turning point, jumps to the flow h, g. controls the mechanism 'so that the absolute value of the impulse is equal to jmax toward the turning point to increase and decrease the speed Until the turning point, and when the speed of the mechanical device is zero, the flow jumps to i; h. Controls the mechanical device toward the starting point when the absolute value of the acceleration is equal to Amax for the equal acceleration motion 'flow jumps to j; i. The mechanical device 'has its absolute value equal to jmax moving toward the starting point with deceleration until the acceleration is equal to zero, the flow jumps to k; j. When it is necessary to prepare to start deceleration, the mechanical device is controlled such that its absolute value is equal to Jmax When the acceleration is moved to the starting point and the acceleration is equal to zero, the flow jumps to 1' k. Control the mechanism 'so that the absolute value of the impulse is equal to Jmax The point moves at the acceleration and deceleration speed until the starting point, and the speed, acceleration and impulse of the starting point are both zero; l. Control the mechanism 'so that the absolute value of the impulse is equal to Jmax toward the starting point 24 201024941 to increase and decrease speed, The flow jumps to m; m. When the starting point is reached, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax, the deceleration motion is started to the starting point until the starting point, and the velocity and acceleration of the starting point are made. And the impulse is zero, the process is dry. 29. For the special motion, please refer to the motion planning method described in item 2 of the scope, in which the absolute value of the additivity does not reach the maximum value (Amax) and the speed is The absolute value has reached the maximum value (vmax). 30. The method of motion planning according to claim 29, wherein the control flow of the motion regulation method is as follows: a_ the machine is ready to start at the starting point of the stroke; b. controlling the mechanical device such that the absolute value of the impulse is Equivalent to Jmax toward the reentry point for accelerating motion; c. When the absolute value of the speed reaches Vmax, the machine is controlled so that the absolute value of the impulse is equal to Jmax toward the turning point and the deceleration is moved to the absolute value of the speed equal to Vmax; d. The absolute value of the control mechanical speed is equal to Vmax moves at the same speed as the turning point; e. When it is necessary to start deceleration, control the mechanical device so that the absolute value of the impulse is equal to Jmax, and the moving point is moved at the acceleration and deceleration so that the absolute value of the acceleration does not exceed Amax; f. Judging the mechanical device to the turning point Whether the absolute value of the previous acceleration reaches the maximum value Amax', when the absolute value of the acceleration reaches the maximum value, the flow jumps to step & otherwise the process jumps to step h; g. Controls the mechanical device to decelerate the absolute value of the acceleration Amax to the turning point And when the mechanical device is at a speed of zero at the turning point; h. controlling the mechanical device so that it rushes Jmax absolute value is equal to the switchback point until the deceleration motion reversal points, and when the zero speed mechanical means, 25201024941 acceleration is not zero, the process ends. 31. The method of motion planning according to claim 29, wherein the control flow of the motion planning method is as follows: & • the machine is ready to start at the starting point of the stroke; b. controlling the mechanical device to make an impulse The absolute value is equal to Jmax and the acceleration movement is made to the return point; c. When the absolute value of the speed reaches Vmax, the control machine makes the absolute value of the impulse 荨 Jmax toward the turning point, and the jerk is moved to the absolute value of the speed equal to the reference Vmax; d. The absolute value of the mechanical speed is equal to Vmax and moves at the same speed as the turning point; e·When the deceleration needs to be started, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax and the moving point is moved at the acceleration and deceleration so that the absolute value of the acceleration does not exceed Amax; f* Whether the absolute value of the acceleration before the mechanical device reaches the return point reaches the maximum value Amax. When the absolute value of the acceleration reaches the maximum value, the flow jumps to step g, otherwise the flow jumps to step h; g g. control the mechanical device to make the absolute value of the acceleration Amax decelerates to the turning point, and when the speed of the mechanical device is exactly zero at the turning point, the acceleration is not zero, skip to Process step i; h. control the mechanical device 'so that the absolute value of the impulse is equal to Jmax toward the turning point to move at the acceleration and deceleration rate until the turning point, and when the speed of the mechanical device is zero, the flow jumps to step j; i. At the starting point, when the absolute value of the acceleration is equal to Amax for the constant acceleration motion, the flow jumps to step k; j. Control the mechanical device so that the absolute value of the impulse is equal to Jmax and moves toward the starting point with the deceleration until the acceleration is equal to zero. To step k; 26 201024941 k. When the absolute value of the speed reaches Vmax, the machine is controlled so that the absolute value of the impulse is equal to Jmax. The deceleration is moved to the starting point to the absolute value of the speed equal to Vmax. l. The absolute value of the control mechanical speed is equal to Vmax. Start point for equal speed motion; m. When it is necessary to start deceleration, control the mechanical device so that the absolute value of the impulse is equal to Jmax moving toward the starting point at the acceleration and deceleration so that the absolute value of the acceleration does not exceed Amax; η. At the point of time, the mechanical device is controlled such that the absolute value of the impulse is equal to Jmax, the deceleration motion is started toward the starting point until the starting point, and the starting point is made The speed, acceleration and impulse of the point are all zero and the process ends. 27