2D command preprocessor with jerk limit for machine tools drives

This paper presents a method, which allows the computing of reference variables (position, velocity and acceleration) of a mass moving along a given two-dimensional contour. The method is based on the time-suboptimal approach. The central point of this approach is the computing of the critical path velocity which should not be exceeded in order to keep the drive forces in the admissible range. Limits of the jerk for axis drive can be considered, when a trajectory is generated. The proposed command preprocessor with a model following control method eliminates or reduces contouring errors.