Patent ID: 6539275
Filing Date: 2003-03-25
Classification: G05B

Abstract:
A controller for executing an interpolation on a motion path of a tool through a plurality of interpolations, including a first interpolation for obtaining an interpolation point at a first interpolation period and a second interpolation for interpolating interpolated points outputted from the first interpolation at a plurality of second interpolation periods so as to control a machine having a plurality of axes driven by servomotors, comprising:a tangential acceleration calculating unit to obtain a tangential acceleration of a motion segment at the first interpolation sampling period based on allowable maximum acceleration predetermined for respective axes and direction of motion of the tool included in outputted data from the first interpolation; and an acceleration/deceleration processing unit to obtain a tangential velocity by performing tangential acceleration/deceleration processing over motion segments at corresponding second interpolation sampling periods based on the tangential acceleration; wherein the second interpolation is performed based on the tangential velocity obtained by the acceleration/deceleration processing unit.