TWI306330B - Ac servo system with distributed movement control and method for the same - Google Patents

Description

1306330 V. EMBODIMENT OF THE INVENTION (1) Technical Field The present invention relates to an AC servo drive, in addition to the conventional function (drive servo ', 4, which includes a motion control unit added to several horse-movers Outside the motor, it is also in the motor drive shaft motion control system. , D is used to form a distributed multi-disciplinary system. [Previous technology] At present, the system architecture of multi-axis motion control belongs to a host controller, and the second, the control, the communication, and the like, to control the servo drive.冋 axis tween movement. To achieve a straight line/arc, etc., the architecture of the centralized control system of the multi-axis motion control of the conventional '/, the command plan of the multi-axis tween of the servo drive 12 in the architecture 盥 1 / in / out) 14 control system The centralization is handled by the upper controller 16: each signal is connected to the servo driver 丨2 by a conventional wiring method. The disadvantages are as follows: ^ ^ (1) The cost is too high: the more the number of axes corresponding to the upper controller 16, the more computational the operation is to be performed, and the level requirement of the cpU (not shown) in the upper controller 丨6 is The higher the height. 〇 (2) The number of axes is limited: the number of axes of the servo drive 12 is limited by the number of CPU stages and the number of channels of the hardware. (3) Wiring is complicated: wiring of A/' D (analog/digital), D/A (digital/analog), command pulse wave, feedback pulse wave, digital input and output, etc. between the upper controller 16 and the servo driver 12. The system is very complicated. (4) Insufficient resolution: command signals are limited by physical signals, such as A/D conversion

Page 7 1306330 V. INSTRUCTIONS (2) Change resolution or pulse frequency (5) Prone to environmental interference: There is a high chance of interference in the work area. Compared with the w$ environment, the analogy letter (6) is not easy to maintain: the servo drive has a large number of wires. If the system asks more, the relative figure 2 is a conventional multi-axis motion control and line check is extremely difficult. The composition is based on the following: Z, the command wiring between the communication control system is changed to the wiring of the antenna 16 and the servo driver 12 of Fig. 2 is very good. 8 'This high speed pass' degree. But because of the servo controller 12; no;:? Soil: disturbance and lifting analysis, therefore the upper controller 16 must send the tween ability of the way value command to give each axis, in order to reach the road and = (UHZ or more) tween command to send the position and speed command 'also needs to pass, 2 instant transmission 〇 state, when the number of axes is more and must be again, € k and 1 / caution to iron; r you must simultaneously look at the state of each axis 'network of the capital to pay a lot of money' therefore need: 10MHz Above, such characteristics are: 07 material is achieved, generally in the work (2) Λ / /: high speed (four) means more noise interference, #炉, such # ^ using high-standard communication hardware, Such as fiber optics, this makes the cost even higher. But it’s broken? ) Regulations: Special: This type of high-speed instant messaging network 18 is usually a special material 6 - Yang Ruxin ^ Net or 1 * (: 03. The customer helmet method satisfies the content of the invention. The object of the invention is to provide a distributed motion controller.

Page 8 1306330 V. INSTRUCTIONS (3) Servo system, which contains several servo drives, the system is flattened, and the motion path tween is reduced by the standard industrial network:] =:: can be reduced to * using standard industrial networks The system supports the full and steady two-axis system to increase the number of axes. The invention provides a multi-axis motion control with a distributed type of ::::: r, a two-way, a master drive (including a motor), and a driver (including a motor) that is lightly connected to a two-axis spindle. Both the driver and the slave axis drive can write the motion sequence of the motor in which the program can control the axis or the multi-axis, and the spindle drive performs the motion program to issue the path - the path refers to the axis drive of the axis According to the path command and the slave drive: 摅: The network: the received path command to calculate the person of each axis: according to the parameter value of each axis drive of the communication network, the main drive is driven accordingly. The shaft motor and the slave shaft motor of the present invention achieve the following steps of the spindle drive and the slave shaft drive: the first, the military = the operation parameters of each axis drive H; and then the network path The command is in the communication network; after the fall, 'from::! Calculate the respective path command; connect; after the axis receives, the number drives the spindle motor separately and performs the logic program from the Hummer's axis reference signal to control the axis. Or he is the most

1306330 V. INSTRUCTION DESCRIPTION (4) The present invention provides a feeding service system for dispersing U's distributed and controlled mobile control network, and for lightly connecting to the control system. Connected to the spindle drive d = a plurality of slave drive; a plurality of slave motors, lightly connected to the slave drive or man-machine interface, the spindle drive and the personal computer of the drive Total ▲, service driver movement = contains one: =: = can be connected to the personal computer or man-machine transmission, between the unit and the use of the (four) service driver switchboard interface through the transmission line and the pass ΐ :: to j = computer or The parameter values of the human unit are set and the axis is edited. The parameters and variables are set; the parameter values of the variable unit are set to two. The turn-on/round-in can be programmed by the programmable logic control program to set the unit·3—sentence:, 'and store its state In the system parameter and variable entry and exit unit program '(four) to determine the operation of the multi-axis motor of the round〗 p A Έ I program to control the axis or motion borrow: action network and the communication unit download - root market by two, The spindle executes the motion program to generate a motion path command, and the control unit calculates the tween point of each sampling time for the system parameter and the variable unit, and stores it in one of the number and variable unit motion command areas. And the driver control point n' drives the motors of the respective axes according to the set value of the "edge" parameter area of each sampling time stored in the motion command area.

Page 10 1306330 .... V. Description of the Invention (5) [Embodiment] A preferred embodiment of the present invention will be described below with reference to the drawings. f 3 is an AC servo system with distributed multi-axis motion control in the present invention. In Fig. 3, the 'distributed multi-axis motion control system 30 is used with = control' (four) system has - communication network 32, - spindle drive 36, the network 32', a spindle motor 38 is lightly connected to the spindle drive 36, the f-axis drive 40 is coupled to the communication network 32, a plurality of slave motors are "coupled" to the t 2 actuators 4, and a single computer or human interface 34 is transmitted through the transmission line 35. The communication network 32 is composed of —CAN bus up: row, ., and, spindle motor 38 and slave motor 42 are an AC servo horse, and Ϊ = = ί from the axis drive 4 ° can be programmed a software control program II % actuator operating parameters , the spindle drive 36 and the slave axis drive its program to control the operation of the motor of this or multiple axes (such as the spindle horse 36 and the hummer f42) and the signal of the wheel/wheel. Spindle drive = ; = transmission line 35 On the personal computer or man-machine interface, the upper 2 = ;:= number is used to make the upper value. The main pumping _6 device 36 is based on the path command and the B-network 32, the spindle drive k-axis ·! g但姐| q 0 The path command is used to calculate the data in the communication network 32 and the parameters of each axis driver. Command, whereby the life and the like of the actuator 4. Each of the shaft from the shaft to reach a state of a communication network 32 Ma. Mediator or fine electrical machine interface 34 via the drive spindle of FIG. 336 and comprises a drive shaft 40 from the respectively

Page 11 1306330 V. INSTRUCTIONS (6) Servo drive assembly 5 2, such as 圄 4 argon large knee. In Fig. 4, the submerged actuator assembly 52 of the block diagram includes a unit 54, a = unit 56, a motion control unit 58, a 60 and a driver control loop unit 62. > U Huan early το out/in ^ element 54 includes digital round-out/in and analog round-out/in, which are set by the round-up motion control unit 58, and the signals of the round/person are responsible for The process 'stores and stores these rounded/in states in the system parameters and variables unit 60 for use by other units. The communication unit 56 includes three rows (not shown) of USB/RS_232(485)/CAN, and USB and RS-23 2 U85) can be connected to the computer or human interface device 34 by the transmission line 35. 'As a parameter for the feeding service driver assembly 52 to set/edit and download the motion program, and to monitor the status of each servo operation in real time; CAN is used as the transmission master/slave axis path π command and data exchange between the wheels Use. ‘β In the operation of multi-axis tween, each station (ie each axis) can set a station number as the identification ID of the communication. The setting method is as follows·· Name mis secret 撇4(4) Fan bacterium 0-F 0-¥

The station number is a total of 8 bits (bit) divided into 16 groups (4 bits), each ~ group contains 16 axes (4 bits) 'in each group, the axis number = 0 is used as the main axis, other Then it is the slave axis. However, the above specific examples only illustrate the multi-axis of the present invention.

1306330 V. INSTRUCTIONS (7) The operation of the tween is not intended to limit the number of axes of the present invention. Each axis in the group can perform multi-axis tween motion, and the tween command is uniformly tuned by the master to the slave axis; for the slave that does not perform the tween: the pumping motion command. If there are N groups of multiple (four) dynamic needs and two J e in a system, they can be assigned _ group is 1, the CA N sink / claw row of each group can be connected together, or can be independent. Motion control unit 58 is operative to execute the motion program and generate a motion path to act as a command input to driver control loop unit 62. The motion program is downloaded via the ^_$56 to the ram 64 in the motion control unit 58, which = (4) code UQde) and f mdata). The instructions provided by motion control unit Μ 66 provide programmable logic in addition to operations.

Two 丄=rTble Logic contro1, PLC) instructions (such as LD/AND di motion control unit 58 provides multiplex "uUi - task 1 2:, so the programmable logic control program can be written in some work, the motion program is written in Another job while at the same time

Both the motion control and the sequence control...loading speed x 4 force) and the motion path (speed/point 丨 to calculate the 每一n of each sample 赴n to the missing line/circle motion) variable unit _ motion storage In the system parameters and from #入i军动+Α Γ·命7 £70, the driver control loop unit 62 loads the relevant commands from the motion command area 70 (degree command v-Cffld, current command Bu Er« Speed actual action. In * u / etc. to control - the servo motor 72's continuous action in the spindle, the path of the path generator 68 36 in the motion program ^ is driven by the spindle driver 2 疋 7 from the axis is then converged by CAN Row

Page 13 !306330 V. INSTRUCTIONS (8) Acquire the command sent by the spindle driver 36. The # 统 ί ί " number and variable unit 6 〇 is used to store the public information in the system, which is a bridge for communication between units. Information includes operating mode (position/speed ugly), axis parameter (encoder resolution), axis status (current position/speed ς i path parameter (acceleration time/target speed), M〇ti〇n command (bit far) / Torque), Μ / 〇 mode (relay 0 contact / local / two), communication parameters (Baud rate / station number), etc. This information can be transferred via s, 兀 56 by transmission line 35 The personal computer 34 is used to read and write. The driver control loop unit 62 commonly used by the skilled person is part of the performance of the real motor 72, and the driver control loop unit 62 includes a 2 position/speed/torque (current) loop, command smoothing filter. , anti-seismic ^ and variables, etc. 'The gain parameters of each loop are defined in the system parameters: as mentioned above, the operation mode of this #明的运动驱动器 is as follows: (f) can be programmed: in order to save the upper controller, the drive of the present invention Must have the ability to execute motion and logic control programs: (1) The motion program is written on the PC outside the motion driver, and downloaded into the RAM 64 via the communication unit of the motion driver. The reverse motion controls the (2) motion of the early 7058 The execution/stop of the system is based on the system parameters and variables. First, the parameters and variables can be set by the operation panel, or can be set by the personal computer or human machine interface 34. Kay early το by (3) tested correctly The motion program can be programmed into the EEPR0M of the invention (9) 58 for independent operation (stand & 1〇η^ ^ (4) The state of motion execution can be debugged via the communication unit 56 pc, in order to debug外部 Outside the (Β) multi-axis tween: a group has a - spindle, and a number of groups can perform tween motion, including a line / arc tween refers to the person to achieve time synchronization via the communication network. Multi-axis tween The flow is as follows: V axis

(1) Set the tween parameter·· Spindle motion program execution parameter I: Select complement (4)/Set tween target speed/acceleration/deceleration time is sent to each slave axis by the animal. aCommunication 1 (2) Set the tween command: the motion program of the spindle, set the straight line (multi-axis position) or the arc command W command unit 56 to send to each slave axis. Angle) 'With the communication command, refer to (1? : := axis (spindle/slave axis) to get the tween command of its own replenishment time? Stored in iC' is calculated by the road generator to the per-receipt area. Stored in the system parameters and the variable unit's life 70 (order 4), W^f (4) return element 62 reads the motion command area p / the state of the servo motor is controlled. (1) First and his axis Remote 1 / 〇 action flow: # # # ^ D In the system parameters and variables D 〇 (digital output) to the output of this axis, the other part of the axis _ is the current axis or his axis; all the di of this axis (digital input) can be the same as (2) and then selected in the system parameter and variable unit 60 D0 position

Page 15 Ι3Ό6330 V. INSTRUCTIONS (10) Select which axis of the axis should be output by the far axis. (10) The output process of the program remote D0··execute the motion program. Write the system parameters and the local axis of the variable unit 60. D 〇 state DO ^ m ^ ^56 I» ^ The state of the remote D〇 of the parameters and variables earlier than 6〇. Source 』Axis flow Aroma (3), (4) Do not apply DO, merge (3) by • Other D. To "find the final _." Output. And (4) (4), (4) 2 6i remote D〇 wheel out flow: 1/0 unit 54 of the axis reads the system parameter DO and the local axis DO state in the variable unit 60 according to the D0 position $, find out The local axis P0 transmitted to the remote axis is transmitted by the communication unit. It can be seen from the above that the technical features of the present invention are as follows: β (1) has decentralized control 'CPU operation burden reduction: In the case of multi-axis control, the tween command is generated by each axis, and the user program can be subdivided into A number of small programs, written in individual axes, are processed for their respective action flows. This program is small, easy to maintain, and can be used as a module. Therefore, a large and complex program can be distributed to each axis, and the program space will not be insufficient. The CP [J burden] of the drive can be lightened to make the execution movement faster. (2) Using the communication network for real-time data intercommunication: using a communication network to connect to each other between different axes, in addition to data exchange, multi-axis simultaneous motion (linear/circular tween) functions can also be realized. Since this network has priority and immediacy, frequent data exchange on each axis will not affect multi-axis

Ϊ 306330 V. Invention Description (11) Dynamic performance is a reliable communication network. In the present invention,

The signal can be read through the communication network, reaching the far end of 1/0. U = the more the number of axes, the more the number of /0 points can be, the resources can be saved. ~ Use existing (3) built-in full-featured motion controller and ριχ: include motion 2 in the drive' means no external pulse is required or: Line ^ saves assembly time, the greater benefit is to take care of = : The need for J operation. In the traditional system, in order to achieve high precision (accuracy and moxibustion analysis), the resolution of the encoder must be thinned (17~23 bits). If the frequency is not fast enough, the command speed sent will be slow = ϋ fixed electronic gear Magnification, but at the expense of positioning resolution. The encoder for the sample parsing loses its meaning. In the analog command: the A/D conversion of the device is about 12 bits, but there is noise, and the question 'If the motion (4) contains the driver to attack some problems', the command resolution can be increased to 32 bits. Avoid driverization/programmability: Users can write their own programs and define 〇ΛΛ/methods according to their own needs, including di/d 畚°°° analogy ratio 1/0 function, operating parameters The meaning of the pulse wave f U is the original, the pro-sound each: white can give new meaning. For example, you can change the analog input to abundance t7 to change the rigidity of the control 11, or input the pulse wave to the input of the optical ruler, and so on. In this way, the existing U-number conversion interface can be fully utilized to make the system more simplified. For the development of multi-axis systems for the development of multi-axis systems, it is inconvenient to connect to the field for each axis parameter and adjustment.

1306330

According to the invention, since the existing communication network has one axis connection, it can be used for any axis, debugging and monitoring, and the use of the circuit can be connected to each axis. Therefore, it is only necessary to perform parameter setting, program editing and customization. The present invention has the following advantages: (1) The work of the branching operation [from] calculation path is distributed to each axis for processing, so the number of axes does not affect the burden of the cpu of each axis. (2) The number of axes is easy to increase: only the servo drive needs to be added under the distributed architecture. Lu can be programmed. The drive contains a motion controller and PLC, and the user can write motion programs and logic control programs. (4) Customizable: The functionality of the design interface can be freely planned to meet the needs of system integration. (5) The modular and motion programs are executed on each axis, and similar functions can be used as modules. (6) High precision: the upper controller and the driver are combined into one, so no physical circuit is required to transmit the command', which improves the accuracy and reliability of the command, and also saves costs (saving time, labor, space, Save wiring and save money). (7) Saving wiring: Traditional wiring has been replaced by communication networks, with a large size. ' (8) Save I / O: communication signals between the host controller and the driver (such as SrvOn, Ready, Alarffl, p〇s〇K, clrCnt) no longer need to be ", the extra I / O can It is used as a PLC program control, and the more the number of axes is ^/〇', the function of the remote I/〇 can be achieved by using (7). (9) Good noise resistance: no traditional analog command, communication network adopted

1306330 V. Description of invention (13) Standard industrial network with strong anti-noise capability. (1 0) High reliability: It can be designed as a backup system, one fault can be used for emergency treatment or protection. (11) Network development environment: It can be connected one-to-many, which is conducive to the overall planning and development of the system and improve efficiency. The present invention has been described above with reference to the preferred embodiments and the accompanying drawings, and should not be considered as limiting. Various modifications, omissions and changes may be made without departing from the scope of the invention.

Page 19 1306330

[Simple description of the schema] = centralized control system of conventional multi-axis motion control · architecture diagram of high-speed communication control system for conventional multi-axis motion control; architecture of system system Figure 3 has a dispersion diagram of the present invention; Architecture of the control AC servo system FIG. 4 is a block diagram of the driver of the present invention. [Main component symbol description] 1 2 servo driver 16 upper controller 30 distributed multi-axis motion control system 34 personal computer or human interface 36 spindle driver 38 spindle Motor 4 2 slave shaft motor 54 I/O unit 58 motion control unit 62 driver control loop unit

• 66CPU 70 motion command zone 14 I/O 18 two-speed communication network 32 communication network 3 5 transmission wheel 40 slave axis drive 5 2 servo drive assembly 56 communication unit 6 0 system parameters and variable unit 64 RAM 6 8 path generator 72 servo motor

Claims (1)

1306330 曰MM j4l46893_ VI. The patent application scope is for the distributed multi-axis AC feed system communication network; U 3. The spindle drive is coupled to the communication network; ^ 2, coupled to the spindle drive. The package goes dynamically to the side of the communication without J-mumu multiple slave motor H network, and PC or human-machine: wide-axis driver; where the master 2 is coupled to the any-axis drive %. Logic The control program 'and the vehicle movement: can write the motion control program to control the knowledge parameters of the axis or the dry motion ^, execute the communication network, and the motion program sends the signal to the finger axis received by the communication network. The tween command of the drive shaft drive, the Suifen t 7 knife does not calculate the value of each parameter to divide Μ ^ ^ The number of each of the shaft drives 2 moves the spindle motor and the slave shaft motors for 1 or The system of the first item of the patent scope, wherein the person carries the "this w Γ surface through the transmission line and the communication network can be used to drive the brain to the main axis - some slave drive - "Saki" to the spindle drive and And monitor each round ^, t &amp ; Load the program and set/edit the values of these parameters, '3 as the operating state of the glaze motor. And the system of the first aspect of the patent range wherein the spindle drive driver assembly package actuator comprises a servo drive assembly 'the servo communication unit ' unit 'transfers the communication network' and Can connect to the PC Page 21 1306330 VI. Application for patent scope or man-machine interface; One-to-one system parameters and number of units, as the communication device for the communication between the 70 units, the parameters are stored, and the interface of the machine is transmitted via the transmission line. And the communication unit performs setting factory editing on the parameter values of the 2 or the human unit of the axis, or via the number and variable-output unit, by setting/editing; setting the state of the output/input, and controlling the program The preparation and variable unit; the storage of its cancer in the system parameter a motion control unit, the execution of the logic into the unit of the wheel / input, the implementation of the motion control V range /, the second set the round out of some parameter values to calculate The system parameters and variables read by the system parameters and variables of the bottom system::: the sample tween 35' and stored to: f - the second time / ϋ of the sampling time, it is very expensive in the movement command area motor. The tween point between the tween point and the parameter value of the system parameter area = the driver control C and the sample time complement (4) according to the motion command area stored therein, the system refers to 'one axis parameter, one _ 'a monitoring path and _ Among them, the system of the motion control and variable unit eye patent range 3, the value of the state, the value of the 1 road is a mode of operation, such as the number of parameters, a number of rounds of entry and exit mode, such as the third paragraph of the patent application scope system, 1306330 94146 Following the application of the patent scope R^M 储广# RAM, an EEPR0M, a cpu and a path generator, the worm W downloads the motion program, the CPU provides a group of PLC instructions to program 弋 = i control program The CPU executes the command of the mobile person stored in the RAM as the command input point of the path generator; : m艮ΐ: some parameter values to calculate the play area for each sampling time. Store it on the motion system of the system parameters and the variable unit. * The eight cores are: two νν, which is the method used for multi-axis control, and the servo system of the second system, a) . Write the main phase driver and ? The following steps: a program; a plurality of slave-axis drive motion control operating parameters; to the communication network; 仃 the motion program to issue a path finger _ d). According to the path, e). The command of each axis drive of each axis, · drive the spindle motor and a plurality of parameter values of the slave axis to f) respectively perform the motion control, ',,, actuation; and the action and output / input signal to Controlling the motor of the present shaft or multi-axis 9. The method of claim 8 of the patent scope further includes the following steps: Page 23 1306330 VI. Patent application scope. a) . Routing a personal computer or a human-machine interface via a communication network Downloading a spindle drive and one of the slave drive drivers and setting/editing a plurality of parameter values; and b) any axis drive connected by the personal computer or the human machine interface via the transmission line, and then via the communication network The method of monitoring the operation of each of the shaft motors. The method of claim 8, wherein the spindle drive = the slave drive includes a servo drive assembly The party> includes the following steps: internal unit parameter 舆 variable unit unit is used for communication between the units in the servo driver assembly to store the parameter values. The second person is the personal/brain or human machine interface. Through the transmission line and the communication list: the parameter values of the variable unit are set/parameter value is set "flat; 'the axis of the axis system parameter and the variable unit is executed by a t-control unit to set the logic control program to set - The parameter and the variable list &; the wave stores its state in the system 〇d) · The command of the single motion path controlled by the motion of the spindle, according to the parameters read by the variable to generate the variable army Value parameters and points, and store them to the system parameters and between; crying double early 运动 one of the motion command areas e). The motion control 垔 spears early 疋 exercise control program to control the axis 1306330 6. The action of the motor and the output/input signal of the patent application scope or the eve of the vehicle; and each of the data samples of the system and the variable command unit of the motion command area With the set value of the system parameter zone, the motor of each axis is driven by the actuator control loop unit. Step: 11. The method of claim 10, further includes the following steps: a. downloading the downloaded motion program in _RAM; C 乂 for a group of PLC instructions to write a logic control program; 1 generating a motion path t line storage The motion program of the RAM and the work life 7 are input as the command of the path generator; the time-filled value is used to calculate the per-sampling motion command area. Store the eight parameters to the system parameter and the variable unit of the actuator 1. The method of setting the shaft drive a). The step further includes the following steps: The digital output of the rainbow part is the output of the axis, and all the settings of the axis are set: the remote output of the bit is supplied to the axis of the axis, 'set b'. Set the axis of the axis to be the same as the far end of the axis or its axis. Read; C). Execute the motion Ϊ: output which axis is output from the far end; the status of the output; ^ the digital input of the axis written to the system parameter. d) · By the communication network 堉 & The far end of the axis 4 takes the digital output message and writes the status of the digits of the system reference terminal; Page 25 1^^ 1306330 ^ No. 9414RSqc! Ah (more) is replacing buy i 2: Ί #JL 曰6, patent application scope e) · According to (a) to cover (c) - (d) The undesired bit in the bit, merge (c) and take the output of the "digital output of the axis"; f). According to the position of the bit rotation of the digital position, select the bit in the 'read system parameter' Output and transmit. The number of the axis to be transmitted to the far end of his axis is 13. The type has a distributed type of distributed multi-axis motion control, and the AC servo system uses the spindle drive of the communication network. a communication network, coupled to the spindle drive of the 'axis drive, g #, °, coupled to the spindle motor connected to any of the shaft drives, the slave spindle drive and the ground drive from the axis drive The 〇, ^ RE - glaze driver blade comprises a servo driver, the servo driver assembly comprises: ... seven people: ^ unit, which is connected to the communication network, and can be connected to the personal computer or man-machine interface communication transmission; Electric system-system parameters and variable units The servo driver assembly is used for communication between the 7Cs for storing the parameter values. The personal computer, the interface sets/edits the system parameters of the axis and the parameter values of the unit via the transmission line and the communication unit, or Then, through the communication network, the system parameters of the axis and the parameter values of the variable unit are set/edited. One round of the access unit, by which the programmable logic control program is programmed to set the state of the round/out and store its state in The ',, and variable unit; ^ number motion control unit, executing a logic control program to set the round 笫26 pages 1306330: 7 special paste - 轮 轮 wheel / input, perform motion control action, through the communication system this or multi-run program, the spindle executes the motion program to generate the operation of the newsletter download - transport The motion control unit commands the parameter of the fish path of the system parameter, and calculates the complement of each sampling time by the parameter values; the system parameter and the variable unit of the variable unit read by the point J疋 '· , ' And storing it to the per-unit, according to the horse of the axis stored in the second area; the tween point of the time and the set value of the parameter area of the system;;: where the parameter of the system is one axis, one axis is monitored Path and a 14. If the scope of the patent application is 13th, the parameter values of the variable unit are - operation mode; = parameter, - digital input and output mode communication parameters, etc. 15. If the patent application scope unit has a RAM, a system, wherein the motion control RAM stores the downloaded UI, the military, a CPU, and a path generator, and the path generator is held as the path. The generator's command interpolates, points, and stores the parameter values to calculate the per-sampling time zone. Save to the system parameters and the variable unit Page 27