Abstract: An acceleration/deceleration method capable of synchronizing two axes in velocity and also in position is disclosed. A follower axis X continues to be accelerated after a velocity Vx of the follower axis X reaches a target velocity Vy of an objective axis Y and the acceleration is changed over to a deceleration to achieve the target velocity Vy. The time for changing over the acceleration to the deceleration is determined so that the motion amount of the position Px of the follower axis X in excess of the motion amount of the position Py of the objective axis Y is equal to the sum of the displaced motion amount in the acceleration motion and an initial positional difference. Thus, the position and velocity of the follower axis X coincide with the position and velocity of the objective axis Y to achieve complete synchronism of the two axes in the case where there is a positional difference and a velocity difference between the two axes.

Abstract: In a master unit, clock signals from a clock are counted by a counter, and clock data is generated. This clock data is outputted to a slave unit by a driver, and stored in clock data storage memory. The slave unit stores clock data received by a receiver in the clock data storage memory. A processor for a program controller of the master and slave units starts up, and executes the synchronized operation of an operating program of axes that are synchronized on the basis of clock data stored in the clock data storage memory. It is also possible to commence operation of an axis under other conditions without relying on clock data. If override is applied to clock data, override will apply only to an axis that is synchronized and operated in accordance with clock data.

Abstract: A reference variable having a linear relationship with the angular position of a master axis is set, and a correspondence between this reference variable and the displacement of a slave axis is stored in a data table. One execution stage is specified by setting a starting reference variable and an ending reference variable from this data table. A desired sequence is assigned to a plurality of execution stages thus specified. The reference variable corresponding to the angular position of the master axis is determined, slave axis displacement data corresponding to the reference variable is read out, and the slave axis is positioned in accordance with the position of the master axis on the basis of this displacement data.

Abstract: A method of and apparatus for synchronous control of a leading element and a follower element in which synchronism is started smoothly and a mechanical shock at the start of synchronism is reduced. When the follower element is started to move to be synchronized with the leading element, motion of the follower element is started before the follower element reaches a start position of the synchronism, and brought into synchronism with the leading element at the start position of synchronism. A positional relationship between the leading element and the follower element in synchronism, and a start position for starting the synchronism of the follower element and the leading element is set. An acceleration control of the follower element is performed between a motion start position preceding the start position of the synchronism and the start position of the synchronism.

Abstract: An acceleration/deceleration method capable of synchronizing two axes in velocity and also in position. The follower axis X is continued to be accelerated after the velocity Vx of the follower axis X reaches the target velocity Vy of the follower axis Y and the acceleration is changed over to a deceleration to direct the target velocity Vy. The time for changing over the acceleration to the deceleration is determined so that the motion amount of the position Px of the follower axis X in excess of the motion amount of the position Py of the objective axis Y is equal to the sum of the displaced motion amount in the acceleration motion and an initial positional difference. Thus, the position and velocity of the follower axis X coincide with the position and velocity of the objective axis Y to achieve complete synchronism of the two axes in the case where there is a positional difference and a velocity difference between the two axes.

Abstract: A numeric array of move command data Qi constituting a reference cam diagram F (.theta.) is stored in advance in a data table of a CMOS memory. Alternatively, a shift position of a cam corresponding to a rotational angle .theta. of the cam is stored in advance so that move command data can be generated by obtaining the shift position of the cam from the rotational angle of the cam based on the rotational angle value. In response to the input of a shift Ka in the lift direction, shift Kb in the pitch-circle direction, maximum lift Kc, and data number n as a criterion for extension or compression in the pitch-circle direction, the move command data can be corrected by automatic processing by means of a motion controller. Thus, final move command data Pk can be generated and outputted as position commands.

Abstract: Program storage means (1) is stored with a command program (1a) for driving and controlling a servomotor (4) that drives a belt conveyor (2). Acceleration-deceleration control means (7) detects the current position and current speed of the servomotor (4), and referring to the result of detection, executes acceleration-deceleration control in accordance with acceleration-deceleration points commanded by the command program (1a) and a time constant and target speed for each acceleration-deceleration point.

Abstract: A single control unit in a multi-path synchronization system for a CNC controller simultaneously controls a plurality of paths. A program storage unit stores NC programs corresponding to respective paths. Those NC programs contains synchronization command codes which specify conditions of multi-path synchronization. A decoding unit decodes the NC programs for respective paths. Axis control unit controls the axes of a machine containing the paths by executing the decoded NC programs a in parallel. While executing the NC programs, synchronization control unit interlocks the motion of each axis according to the synchronization conditions specified by the synchronization command codes written in the NC programs.

Abstract: A switch-type reluctance motor and method to compensate for counter electromotive force. The switch-type reluctance motor includes an actual current detection unit to detect the actual current i of the motor or an electrical angle detection unit to detect the rotor electrical angle .theta., a rotation rate detection unit to detect the rotor rotation rate and a counter electromotive force compensation unit to calculate a counter electromotive force compensation value based upon at least one of the actual current and the electrical angle, as well as the rotation rate. A voltage command is compensated with the calculated counter electromotive force compensation value Vc. Thus, counter electromotive force compensation corresponding to changes in the electrical angle .theta. and/or the current i is performed for the switch-type reluctance motor.

Abstract: An acceleration/deceleration control apparatus for a numerical control apparatus which controls a tool in a vicinity of a stroke end by making maximum use of a stroke. The tool moves along a locus in an in-stroke region surrounded by a stroke end and carries out machining of a workpiece such as cutting and the like. The tool, which is moved by the numerical control apparatus according to a machining program, starts from a start point and moves up to an end point in accordance with preread machining blocks. The tool moves in response to usual feed speed control except that tool feed speed is decelerated in sections of the machining blocks when the tool approaches the stroke end. The tool feed speed is controlled to a minute speed just before the tool reaches the boundary of the stroke end and maintains the minute speed while moving along the stroke end. The tool is then accelerated after moving from the stroke end and returns to usual feed speed control.

Abstract: A numerical control system controls a plurality of axes with a plurality of channels (10.about.40). A plurality of spindles (61.about.64) or automatic tool changer controllers (51, 52) are selected and controlled by the channels (10.about.40) according to machining programs. The numerical control system efficiently controls a machine tool having a number of spindles and automatic tool changer controllers.

Abstract: A pitch error compensating system compensates for a pitch error of a ball screw of a numerically controlled machine tool. A pitch error calculating means (4) reads a present value from a present value register (3), reads pitch error corrective quantities (.epsilon.n, .epsilon.pn) in a corresponding period, and outputs pitch error corrective quantities as pitch error corrective pulses (CP) at equal intervals in the period. The pitch error corrective pulses (CP) are added to interpolated pulses (CP) by an adder (5). Since the pitch error corrective quantities are not outputted all at once, the machine tool moves smoothly, and the quality of the machined surface of the workpiece is improved.

Abstract: A gear pitch error correcting system for a numerical control apparatus used for a machine tool including at least one pair of gears provided in a transmission line through which the rotating force of a servomotor is transmitted to a driven member. Gear pitch error correction values for the respective gears, which each correspond to a predetermined gear angle and collectively cover one gear rotation, are stored in a nonvolatile memory. A pitch error computing means (E) refers to a current position register (D), reads out pitch error correction data (14b) corresponding to the current position from the nonvolatile memory, and adds up the data to obtain a superimposed pitch error correction value. The superimposed pitch error correction value and an interpolation pulse from an interpolating means (B) are added together by an adder (C), to obtain a pitch error-corrected output pulse, which is then supplied to an axis control circuit (18).

Abstract: A numerical control apparatus for adaptively controlling a servo apparatus, wherein a load current (Ln) and a velocity (Vn) of a spindle motor (74) are used as a fuzzy input. In response to the fuzzy input, a fuzzy control means (80) effects a fuzzy inference to output a velocity control signal (Cng) for controlling the velocity of the spindle motor (74). This control of the velocity of the spindle motor (74) with the velocity control signal (Cng) makes it possible to effect a smooth velocity control.

Abstract: A three-dimensional coordinate transformation control system controls three-dimensional coordinate transformation in a computerized numerical control apparatus for controlling a machine tool having a plurality of heads. A pre-processing calculating unit (2) decodes a machining program (1), effects three-dimensional coordinate transformation for only a first head in a three-dimensional coordinate transforming unit (3), and distributes pulses based on transformed coordinates to a pulse distributing unit (4). For a second head, the coordinates for the first head are used as they are, and pulses based on the coordinates are distributed by a pulse distributing unit (5). The three-dimensional coordinate transformation is therefore calculated by a reduced number of times, and the burden on the computerized numerical control apparatus for calculations is reduced.

Abstract: Disclosed is a numerical control apparatus for controlling a numerically controlled machine tool such as a hobbing machine and the like. An axis control circuit (14) provided with a synchronization control means (8) controls the rpm of a spindle motor (5) and the rpm of a servo motor (11) based on feedback pulses supplied from a position coder (7) connected to a hob axis (3), so that a ratio of the rpm of the hob axis (3) to the rpm of a C-axis (13) has a given value. A first internal counter (15a) monitors the number of feedback pulses supplied from the position coder (7) and a second internal counter (15b) monitors the number of pulses distributed to the C-axis (13), and when a ratio of the rpm of the hob axis (3) to the rpm of the C-axis (13) is to be changed, a correction pulse calculation means (9) calculates correction pulses based on the number of rotation pulses of the hob axis (3) and the number of the rotation pulses of the C-axis (13) counted by the first and second internal counters (15a, 15b).

Abstract: A numerical control system for controlling a plurality of axes with a plurality of functional arrangements includes a controller bus (1) having a plurality of slots, a plurality of controllers (10, 20, 30) each of which can read, decode, and execute numerical control commands for a group of axes. The controllers are connected to the channel bus (1), and axis control modules (3, 4) for controlling a plurality of servomotors. The controllers (10, 20, 30) share processing operations and use common peripherals, making the numerical control system flexible.

Abstract: A control apparatus for a built-on machine tool according to the invention has a plurality of heads or cutters connected to control axes of respective control systems which are controlled independently by individual control programs. The apparatus includes commander for synchronously issuing a standby command or standby-cancellation command to each system, and timing setting means for setting standby command timing or standby-cancellation command timing between systems brought into coincidence by the command means, wherein standby timing or standby-cancellation timing set with regard to the program of one specific system decides the timing of standby control by the program of another specific system. As a result, a system to be put on standby and a system to be released from standby can be designated at will to enable highly efficient control of the machine tool.

Abstract: An acceleration/deceleration control method for a numerical control device (CNC) which subjects a command value of a velocity in a tangential direction of a traveling path, which is instructed by a pre-interpolation feed command, to an acceleration/deceleration control. A command is read (S1), and an angle .theta. of a traveling direction of a tool with respect to an X axis is calculated (S2). Tangential accelerations .alpha.vx and .alpha.vy are derived based on preset maximum permissible accelerations for individual axes and the angle .theta. (S3). A smaller of the tangential accelerations .alpha.vx and .alpha.vy is set as a tangential acceleration .alpha.v (S4). The command velocity F is subjected to the acceleration/deceleration control by using the acceleration .alpha.v (S5), and then the interpolation is effected (S6). Since the tangential acceleration .alpha.

Abstract: A method of correcting a change of position of a machine tool having at least two control axes. A position change check simulator (14) obtains a ratio (R2) of amounts of movement of respective axes (Xe1, Ye1) obtained from output values of position detectors (8X, 8Y) for detecting a position of the machine tool, and further, obtains a ratio (R1) of predicted amounts of movement of the respective axes obtained from a machine position predicted on the basis of distribution pulses (Xp5, Yp5) of the respective axes, assuming that a servo system has a first order lag. A position correcting means (12) outputs a correction pulse (Xc1, Yc1) so that the ratio (R2) of actual amounts of movement becomes equal to the ratio (R1) of the predicted amounts of movement. This correction pulse (Xc1, Yc1) is added to command pulses (Xp1, Yp1), and accordingly, an abrupt machining error occurring at the beginning and just before the end of machining, and during the machining at corners of a machined article, can be eliminated.