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In a numerically controlled machine includes a first computer which stores command data for a path and derives sets of interpolation point data from said command data for a plurality of points along the path. A second computer stores two sets of interpolation point data from said first computer and

In a numerically controlled machine includes a first computer which stores command data for a path and derives sets of interpolation point data from said command data for a plurality of points along the path. A second computer stores two sets of interpolation point data from said first computer and extrapolates a set of said stored interpolation point data by incrementing velocity with acceleration and position with velocity using a noncircular high order polynomial to produce a sequence of driver command signals. A timing means provides timing signals to the second computer to determine the number and rate of iterations of drive command signals in said sequence as predetermined by the first computer for each set of interpolation point data. The program execution time in the second computer is reduced by a unique method of multiprecision calculation which requires a carry flip flop for each variable calculated and a sign flip flop for eliminated word segments. The memory address decoding for the two sets of interpolation print data are interchanged after each sequence invisibly to the computers. An index register causes data memory address decoding for a plurality of motor drivers invisible to the computers and selects an output to the appropriate motor driver. The second computer includes a manual mode program to calculate the sequence of driver command signals using a manually induced velocity vector. A phased locked loop in the timing means controllably reduces the iteration rate to zero in response to an error signal.

대표청구항 ▼

A numerically controlled machine including driver means for positioning a member along a path and a numerical control system for deriving driver command signals from command data for said path to operate said driver means, said numerical control system comprising: a first programmable computer inclu

A numerically controlled machine including driver means for positioning a member along a path and a numerical control system for deriving driver command signals from command data for said path to operate said driver means, said numerical control system comprising: a first programmable computer including a first memory means for storing said command data and means for deriving sets of interpolation point data from said command data for a plurality of points along said path according to a stored interpolation program; a second programmable computer including a second memory means for storing a calculation program, a third memory means for storing sets of interpolation point data from said first computer, means for calculating a sequence of driver command signals from a set of said stored interpolation point data according to the calculation program and means for outputting said sequence of driver command signals to said driver means, timing means for providing a timing signal to said second computer to determine the number and rate of iterations of driver command signals in said sequence as predetermined by the first computer for each set of interpolation point data; and means for interconnecting said first computer, said second computer and said timing means.