A Modular, Multi-axis CNC, Suitable for the Command of Robots and Special Systems

Abstract

The development of a modular numerical command (CNC) suitable for controlling systems of up to six axes is described. (Machine tools, transfers, robots, etc.) It is based on identical and independent modules for each axis to be controlled. These modules, integrated on a single board, contain all the elements required to close the corresponding loop, their own on-board intelligence, as well as a large number of digital I/Os to carry out the PLC functions related to the commanded axis. An extra module -identical- is used for general coordination, centralization of functions and interface with an intelligent peripheral.