Methodology and Features of the Development of Control Programs for Machine Tools with Dynamically Changing Kinematics

The issues of developing control programs for machine tools with dynamically changing kinematics are considered. The features and additional control commands related to changing the kinematic scheme, controlling the channels of the control system, switching the operating modes of the axes, saving the state of the M and G-vectors are generalized. The features of the execution of the control program in one or several channels are considered. In the case of a program running in several channels and using processors with low performance, it is possible to use a memory-oriented architecture of the control system. A technique for developing control programs has been developed, individual steps of the technique have been identified, features and ways of their implementation have been given. An example of the development of a control program according to the obtained methodology is given.