Abstract: A CNC machine tool control system that includes a controllable, movable tool for shaping a workpiece, a mechanism for receiving control instructions describing shaping functions to be performed on the workpiece, a processing unit and memory. The control systems includes objects defined according to an object oriented design. One type of object is a model of a shaping process to be performed on a workpiece, including informational parameters regarding the physical dimensions of the shape resulting from the process. The process objects communicates through an object oriented messaging system to machine objects, which represent physical devices present on the CNC machine on which the control system operates. The system also includes object oriented motion control and exception handler objects, each of which may communication with other object via object oriented messages.

Abstract: An apparatus is provided for controlling the execution of functions associated with the automatic operation of a manipulator. While traditional function execution has been associated with arrival of a workpoint at or proximate to a predetermined point, the present invention provides for plural function execution between predetermined points. Two alternative embodiments are provided: a first embodiment controls a single output interface type and is unrelated to functions associated with predetermined points; a second embodiment provides multiple executions of any function normally associated with a predetermined point. Spacing between function executions associated with either embodiment is controlled as a function of distance specified by the operator. To produce a desired spacing, feedrate reduction is automatically effected in the event a programmed feedrate is incompatible with a specified function execution interval.

Abstract: A method and apparatus for controlling a split axis servo mechanism are provided. Each of the two servo mechanisms is responsive to a single machine member motion command for effecting linear motion of a machine gantry. Velocity skewing of the servo mechanisms is corrected by modifying the gain of one of the servo mechanisms in response to the difference between the actual positions of both. The gain modification effects reduction of the magnitude of the actual position difference.