Patent ID: 8060238
Filing Date: 2011-11-15
Classification: G05B

Abstract:
1. A computer implemented method of calculating recovery commands for a numerical controlled system, the numerical controlled system comprising an upper controller providing position commands to a servo driver to drive a motor, the method comprising: (a) providing a memory space to store the position commands; (b) reading a position matrix with k-by-1 elements; (c) reading a transformation matrix with k-by-k elements; (d) calculating a plurality of position coefficients of a position polynomial of degree (k−1); and (e) calculating a plurality of position interpolations according to the position polynomial and the position coefficients, wherein the position polynomial is modified to be a modified position polynomial to synchronize the position commands between the servo driver and a control loop of the upper controller, and the position polynomial is expressed as follows: θ(n)=a wherein t=Ta+nxTs-Tc, and Ta is the time of the position commands are initially transmitted to the control loop; Ts is the time of the position commands are sampled by the control loop; and Tc is the period of the position commands of the upper controller.