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摘要

Control method for pre-control and fine interpolation of a drive (A) in a fast drive cycle (tDR) with slower path provision in the cycle of the numerical control (NC). The position control theoretical speed is determined in the drive side to determine a constant part of a theoretical positioning polynomial, the variable component of which is determined in the controller side. An Independent claim is made for a control device for movement control of numerically controlled machine tools, robots, etc. with a drive side (A) rotation speed control (DR) with a rotation speed control cycle (tDR), a position controller (LA) and a numerical side (NC) position controller (LNC) with a slower position control cycle (tNC) with an output of a set speed (nNC asterisk ). A drive side computation means (POLY) is used to determine a control side path calculation (B).