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• Cybermation 700a Software

1, 3-axis cutting system 10 has a 3-axis cutting machine 12 which includes a tool (not shown) for cutting a workpiece, and a mechanism (not shown) for moving the tool relative to the workpiece along any of three mutually perpendicular axes of motion (x-axis, y-axis, and z-axis). Movements along the three axes are produced respectively by three linear torque DC motors 14, 16, and 18. Each DC motor is powered by pulse width modulated power signals from a corresponding switching amplifier, 20, 22, 24. The pulses of the output signal from each switching amplifier can have either one polarity or the opposite polarity to drive the corresponding motor either clockwise or counterclockwise, thus accomplishing motion in either direction along the corresponding axis. The amount of power delivered to each motor and hence its torque is regulated by varying the width of the pulses. Switching amplifiers 20, 22, 24 are connected to receive pulse width modulated logic signals from a digital controller 30 respectively over lines 32, 34, 36.

The use of a step wise linear interpolation algorithm simplifies implementation. The speed/accuracy parameter gives the user the ability to easily trade off speed and accuracy, and to obtain extremely high speeds. Other advantages and features of the invention will become apparent from the following description of the preferred embodiment, and from the claims. DESCRIPTION OF THE PREFERRED EMBODIMENT We first briefly describe the drawings. DRAWINGS FIG.

A programmed speed/accuracy parameter having any selected value from 1 to about 1000 is used to specify the number of machine-scale steps which will equate to each computed step. This permits operating the same machine at speeds as high as 90,000 in/min. (85 mph) at 1 inch resolution. Once the number of steps to be moved in the ensuing 1/100 sec. Is determined (548), the CPU enters a loop in which it takes that many steps from the buffer. First, it gets the next command from the step buffer (560).

Because a modulation frequency of 1000 hertz is used, a nonsynchronous discontinuous input to the pulse width modulator can be used, but the modulation frequency is still low enough not to require expensive circuitry to enable precise modulation. Sigma as 227. Dithering keeps the motors warm to limit shifts in gain which might otherwise occur and to preclude the need for a warm up period before cutting begins. Because power to the motor can be shut off completely, positional errors which might otherwise arise from noise, such as when an arc torch is started, can be avoided. The use of a step wise linear interpolation algorithm simplifies implementation using an 8-bit microprocessor. Higher speeds, albeit with less accuracy are easily obtainable, without further hardware and without increasing the speed at which steps are computed, by changing the speed/accuracy parameter.

Bergren, A Simple Algorithm for Circular Interpolation, published by Potter Instrument Co. In September 1971. In general, to cut a part which has been loaded, the CPU every 1/100 second repeats a process of calculating and delivering to the pulse width board over lines 74, 72 the drive magnitude and direction values (hereafter called the current output speed) to be used in the ensuing 1/100 second. The current output speed along each of the three axes is determined by digital feedback loops implemented by the CPU based on the actual and intended current positions and the actual and intended current speeds along each axis. The actual position and speed are derived from the encoder and the intended position and speed are derived from the step buffer. Referring to FIG. 11, upon receipt of each 100 Hz clock pulse (502) the CPU executes four routines in sequence: (1) an update intended current speed routine (504), (2) an update intended current position routine (506), (3) a compute drive magnitudes and directions routine (508), and (4) an output drive magnitudes and directions to pulse width board routine (503).

11 is a flowchart of drive magnitude and direction output generation. 12, 13 are curves of deceleration techniques. 14 is a flowchart of intended current speed updating.

45-05-13 Itoh et al. 318/5 1986-02-18 Sweeney, Jr. 318/5 1985-12-31 Loyzim et al. 318/5 1983-09-13 Dean et al. 318/5 1983-08-02 Hyatt 364/1 1983-03-15 Ilseman et al. 364/1 1981-06-02 Morgan et al. 318/5 1981-03-31 Nomura et al.

Encoder input board 54 also has three portions respectively serving the three axes; only x-axis portion 90 is shown in detail in FIG. The x-axis portion 9 includes decode logic 92 which receives the incremental position pulses from the x encoder 42, determines whether they represent clockwise or counterclockwise motion, and, depending on which they represent, delivers them respectively over lines 96a, 96b to a 16-bit up-down counter 98. Counter 98 counts up for clockwise pulses received over line 96a and down for counterclockwise pulses received over line 96b. Thus the 16-bit logical count in counter 98, which is delivered over data lines 100 to the CPU board, represents the actual x-axis position. The CPU board uses the change in x-axis position over time to determine the actual x-axis velocity. Referring to FIG. 3, switching amplifier 20 (and likewise amplifiers 22, 24) contains four high speed switching power transistors represented by blocks 110, 112, 114, 116.

3, switching amplifier 20 (and likewise amplifiers 22, 24) contains four high speed switching power transistors represented by blocks 110, 112, 114, 116. Switches 110, 112 are connected to deliver voltage pulses of one polarity and of the opposite polarity respectively to leads 118a, 118b corresponding to clockwise pulses on line 32a, thus driving motor 14 in the clockwise direction at a power level governed by the pulse width. Likewise switches 114, 116 are connected to deliver respectively opposite polarity voltage pulses to leads 118a, 118b corresponding to counterclockwise pulses on line 32b, thus driving motor 14 in the counterclockwise direction at a power level governed by the pulse width. Accordingly, the pulse width output board, switching amplifiers, and DC motors will cause torque in either direction along each of the three axes in accordance with the 10-bit drive amplitude and drive direction (current output power) signals provided by CPU 52.

9, for line 270, B=22, A=42-22=20 and D=1. Next, the CPU decrements the number of units along the major axis by 1 (310), reflecting that another step is being calculated.

Cybermation 700a Software

15 is a flowchart of intended position updating. 16 is a flowchart of drive magnitude and direction computation. 17 a block diagram of the control loop. STRUCTURE AND OPERATION Referring to FIG.

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In that case, the electrical noise, which is caused by a high voltage, high frequency signal sent to the plasma torch to start the arc, diminishes after the torch starts. The only components of system 10 that are affected by the high voltage, high frequency signal are the encoders 42, 44, 46, which must be mounted on the beam near the torch. Before firing the plasma torch, controller 30 brings machine 12 to a halt, turns the switching amplifiers completely off, and monitors the position. When no movement has been detected for one second, the controller records the position of the machine. The plasma torch is then fired. When the plasma arc has been established, a signal is sent back to the controller. The controller then reads the (possibly noise affected) position of the machine, and ignores any changes from the recorded position, thus preventing loss of positioning information.