Numerical controller having suppressor that suppresses variation in velocity due to abrupt change in positional deviation
A numerical controller includes a commanded movement-amount adjustment section, in addition to a position command section and a positional deviation counter but also. The commanded movement-amount adjustment section calculates an adjusted command movement amount based on a commanded movement amount output from the position command section, positional deviation acquired from the positional deviation counter, and an actual velocity of a control axis, and outputs the calculated adjusted command movement amount to the positional deviation counter. When a load acts on a servo motor so that positional deviation is accumulated and the load is abruptly removed, a situation in which the servo motor abruptly accelerates with its maximum torque in an attempt to eliminate the accumulated positional deviation is avoided.
1. A numerical controller, in which positional deviation is obtained by a positional deviation counter based on a commanded position according to a commanded movement amount output from a position command section and a detected actual position in each movement-command output cycle, and position loop control is carried out based on the determined positional deviation to drive and control a control axis, the numerical controller comprising:
a commanded movement-amount adjustment section configured to:
calculate an adjusted command movement amount based on the commanded movement amount output from the position command section, the positional deviation acquired from the positional deviation counter, and an actual velocity of the control axis detected by a velocity detector of the control axis, and
output the calculated adjusted command movement amount to the positional deviation counter: and
a commanded movement-amount adjustment deviation accumulation section configured to:
accumulate a residual movement amount based on the adjusted command movement amount calculated by the commanded movement-amount adjustment section, and
output the accumulated residual movement amount to the position command section,
wherein the residual movement amount is used to calculate the commanded movement amount in the position command section, and
wherein the adjusted command movement amount is calculated based on the actual velocity in each movement-command output cycle.
2. The numerical controller according to claim 1 ,
wherein the commanded movement-amount adjustment section is configured to calculate the adjusted command movement amount in such a way that the adjusted command movement amount does not exceed a predetermined maximum commanded movement amount.
3. The numerical controller according to claim 1 ,
wherein the commanded movement-amount adjustment section is configured to calculate the adjusted command movement amount based on a commanded acceleration that specifies the rate of a change in the adjusted command movement amount in each movement-command output cycle.
4. The numerical controller according to claim 2 ,
wherein the predetermined maximum commanded movement amount is a setting value set as a parameter of the numerical controller.
5. The numerical controller according to claim 2 ,
wherein the predetermined maximum commanded movement amount is a commanded value issued by a program run in the numerical controller.
6. The numerical controller according to claim 2 ,
wherein the predetermined maximum commanded movement amount is a commanded value issued in the form of an input signal to the numerical controller.
7. The numerical controller according to claim 3 ,
wherein the commanded acceleration is a setting value set as a parameter of the numerical controller.
8. The numerical controller according to claim 3 ,
wherein the commanded acceleration is a commanded value issued by a program run in the numerical controller.
9. The numerical controller according to claim 3 ,
wherein the commanded acceleration is a commanded value issued in the form of an input signal to the numerical controller.