Cross-cycle cam curve creation and synchronization control method, system, medium, and electronic device

Abstract

This application provides a method for creating and synchronizing a cross-cycle cam curve, including the following steps: obtaining the coordinates P of N key points in a slave axis cycle. i (X i Y i ), where X i Principal axis coordinates, Y i To be with X i The corresponding x-axis coordinates, X i Located in different principal axis periods; based on the key point coordinates P i (X i Y i ), calculate the electronic cam coordinates P' used to generate the electronic cam curve. i (X' i Y' i Based on the electronic cam coordinate P' i (X' i Y' i This application's method for creating and synchronizing cross-cycle cam curves generates electronic cam curves. The method shifts the master and slave coordinate values ​​of key points in the "cross-cycle" motion to a master axis mode, generating the electronic cam coordinates used to create the electronic cam curve. The cam curve is then created based on these shifted electronic cam coordinates. This solves the "cross-cycle" problem of the cam without adding a virtual master axis, saving system control resources and reducing equipment costs.

Description

Technical Field

[0001] This invention relates to the field of industrial control, and in particular to a method, system, medium, and electronic device for creating and synchronizing cross-cycle cam curves. Background Technology

[0002] In motion control applications, reciprocating electronic cam synchronization is a typical application type, such as the can processing station in a metal can-making machine. A vertical lifting mechanism lifts the can upwards to a set position for processing. After completing the process at that station, the lifting mechanism descends to its initial position, and the processed can is transferred to the next station by a transport mechanism. Simultaneously, the next can to be processed is transferred to that station, and the operation begins, repeating this cycle. However, to improve production line efficiency, it is necessary to minimize the waiting time at each station, meaning the current station's action should precede the previous station's completion; this is called "cross-cycle" motion. For cross-cycle applications of electronic cams, existing technologies generally use the addition of a virtual axis. However, adding a virtual axis consumes the controller's motion control resources, increasing equipment costs. Furthermore, adding a virtual axis introduces complex control logic and operational requirements, resulting in low equipment debugging efficiency and cumbersome operation. Summary of the Invention

[0003] In view of this, the present invention provides a method, system, medium, and electronic device for creating cross-cycle cam curves.

[0004] In a first aspect, this application provides a method for creating and synchronously controlling a cross-cycle cam curve, comprising the following steps:

[0005] Obtain the coordinates P of N key points on the axis period. i (X i Y i ), where X i Principal axis coordinates, Y i To be with X i The corresponding axis coordinate, X i Located in different spindle cycles;

[0006] Based on the key point coordinates P i (X i Y i ), calculate the electronic cam coordinates P' used to generate the electronic cam curve. i (X' i Y' i );

[0007] Based on the electronic cam coordinate P' i (X' i Y' iThis generates a cross-cycle electronic cam curve.

[0008] Preferably, the key point coordinates include the coordinates from the starting point P0(X0, Y0) and the coordinates from the ending point P0(X0, Y0). n (X n Y n ).

[0009] Preferably, based on the key point coordinates P i (X i Y i ), calculate the electronic cam coordinates P' used to generate the electronic cam curve. i (X' i Y' i The steps further include:

[0010] Calculate the offset coordinate value Δx of the principal axis;

[0011] Based on the offset coordinate value Δx of the principal axis, the principal axis coordinate X... i Perform an offset to generate the principal axis offset coordinate X' i , where X i When -△x>0, X' i =X i -△x; when X i When -△x≤0, X' i =X i -△x+A0, where A0 is the modal length of the principal axis.

[0012] Ideally, △x = X0.

[0013] Preferably, Y' i =Y i .

[0014] Preferably, based on the electronic cam coordinate P' i (X' i Y' i Before the step of generating the electronic cam curve across cycles, the following steps are also included:

[0015] The electronic cam coordinate P' i (X' i Y' i Arranged in ascending order according to the spindle position.

[0016] Preferably, based on the key point coordinates P i (X i Y i ), calculate the electronic cam coordinates P' used to generate the electronic cam curve. i (X' i Y' iFollowing the steps of ), it also includes:

[0017] An electronic cam synchronization method is set, wherein the cam synchronization method is relative synchronization of the master axis and absolute synchronization of the slave axis.

[0018] Preferably, after setting the electronic cam synchronization method, the following steps are also included:

[0019] Specify the timing for electronic cam synchronization, wherein the electronic cam synchronization is completed when the spindle reaches X0.

[0020] Secondly, this application provides a cross-cycle cam curve creation and synchronization control system, comprising:

[0021] Acquisition module: Used to acquire the coordinates P of N key points in one slave axis period. i (X i Y i ), where X i Principal axis coordinates, Y i To be with X i The corresponding axis coordinate, X i Located in different spindle cycles;

[0022] Calculation module: used to calculate based on the coordinates P of the key point i (X i Y i ), calculate the electronic cam coordinates P' used to generate the electronic cam curve. i (X' i Y' i );

[0023] Electronic cam curve generation module: used to generate curves based on the electronic cam coordinates P' i (X' i Y' i This generates a cross-cycle electronic cam curve.

[0024] Thirdly, this application provides a non-transitory computer-readable storage medium that stores instructions, which, when executed by a processor, cause the processor to perform the steps of the above-described method.

[0025] Fourthly, this application provides an electronic device, including: a processor and a memory, wherein:

[0026] The memory stores a program configured to cause the processor to perform the steps of the method as described above when executed by the processor.

[0027] The cross-cycle cam curve creation and synchronization control method, system, medium, and electronic device provided in this application offset the master and slave coordinate values ​​of the key point coordinates of the "cross-cycle" motion to a master axis mode, generating the electronic cam coordinates used for the electronic cam curve, and creating the cam curve based on the offset electronic cam coordinates. By setting the synchronization method of the cam, the "cross-cycle" problem of the cam is solved without adding a virtual master axis, saving system control resources, reducing equipment costs, and also reducing equipment and operational requirements, thereby greatly improving production efficiency and saving labor costs. Attached Figure Description

[0028] Figure 1 A flowchart illustrating the cross-cycle cam curve creation and synchronization control method according to an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of a typical cam curve under one master axis modal period, where the X-axis is the master axis and the Y-axis is the slave axis;

[0030] Figure 3 This is a schematic diagram of a typical cam curve under continuous master spindle modal period, where the X-axis is the master axis, the Y-axis is the slave axis, and the horizontal axis is the time axis.

[0031] Figure 4 This is a schematic diagram of a cross-cycle cam curve under a slave axis cycle, where the X-axis is the master axis and the Y-axis is the slave axis;

[0032] Figure 5 This is a schematic diagram of a typical cam curve under continuous master spindle modal period, where the X-axis is the master axis, the Y-axis is the slave axis, and the horizontal axis is the time axis. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other technical solutions obtained by those skilled in the art based on the embodiments of this application fall within the scope of protection of this application.

[0034] In motion control applications, reciprocating electronic cam synchronization is a typical application type, such as the can processing station in a metal can-making machine. A vertical lifting mechanism lifts the can upwards to a set position for processing. After completing the process at that station, the lifting mechanism descends to its initial position, and the processed can is transferred to the next station by a transport mechanism. Simultaneously, the next can to be processed is transferred to that station, and the operation begins, repeating this cycle. However, to improve production line efficiency, it is necessary to minimize the waiting time at each station, meaning the current station's action should precede the previous station's completion; this is called "cross-cycle" motion. For cross-cycle applications of electronic cams, existing technologies generally use the addition of a virtual axis. However, adding a virtual axis consumes the controller's motion control resources, increasing equipment costs. Furthermore, adding a virtual axis introduces complex control logic and operational requirements, resulting in low equipment debugging efficiency and cumbersome operation.

[0035] In view of the above problems, this application provides a method and system for creating and synchronizing cross-cycle cam curves, so as to at least partially solve the above technical problems.

[0036] The specific implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0037] Example 1

[0038] Example 1 is a method for creating and synchronizing cross-cycle cam curves provided in this application.

[0039] To facilitate understanding, let's first combine... Figures 2-5 The working principle of the electronic cam is explained.

[0040] Electronic cams evolved from mechanical cams. Just as mechanical cams have highest and lowest points, electronic cams also have start and end points. In typical cam applications, the master axis is a modal axis, and the positional relationship of the slave axis within one modal cycle of the master axis is described by the cam curve. Figure 2 and Figure 3 This represents a typical cam curve relationship, where the master axis is a rotary axis with a 360° modality, and the slave axis is a linear axis. Figure 2 The positional relationship between the master and slave axes is as follows:

[0041] (1) When the main spindle moves from 0° (X0) to X1, the slave spindle remains stationary at the initial position Y0;

[0042] (2) When the spindle moves from X1 to X2, the slave axis moves from the starting position Y0 to the working position Y2;

[0043] (3) When the main spindle moves from X2 to X3, the slave spindle remains stationary at the working position Y2;

[0044] (4) When the spindle moves from X3 to X4, the slave axis returns from the working position Y2 to the starting position Y0;

[0045] (5) When the spindle moves from X4 to 360° (X5), the slave shaft remains stationary at the starting position Y0.

[0046] Depend on Figure 2 and Figure 3 As can be seen, in the above typical cam curve relationship, the master axis coordinates are located within the same master axis modal period. Therefore, when creating an electronic cam curve, the user only needs to input the master and slave axis position coordinates in the human-computer interaction interface, and the cam curve can be created through the dedicated cam generation function block.

[0047] As for "cross-cycle" movements, such as Figure 4 and Figure 5 As shown, the operation begins from the axis at the end of the previous master axis cycle, meaning the master axis coordinates are located within different master axis modal cycles. According to the rules for generating cam curves, the master axis coordinate value of the later point cannot be less than that of the previous point. However, this principle is violated in cross-cycle motion, making it impossible to directly generate electronic cam curves.

[0048] Based on the working principle of the electronic cam described above. Figure 1 This is a flowchart illustrating a method for creating and synchronizing a cross-cycle cam curve, as provided in an embodiment of this application. Figure 1 As shown, the method includes:

[0049] S101: Obtain the coordinates P of N key points in a single axis period. i (X i Y i ), where X i Principal axis coordinates, Y i To be with X i The corresponding x-axis coordinates, X i Located in different spindle cycles.

[0050] S103: Based on the key point coordinates P i (X i Y i ), calculate the electronic cam coordinates P' used to generate the electronic cam curve. i (X' i Y' i The electronic cam coordinates P' used to generate the electronic cam curve. i (X' i Y' i The creation rules for electronic cam curves must be met, meaning that the spindle coordinates must be within the same spindle modal period.

[0051] S105: Based on the electronic cam coordinate P' i (X' i Y' i This generates a cross-cycle electronic cam curve.

[0052] The positional relationship between the master and slave axes is generally represented in the form (X,Y), where the X value represents the position of the master axis and the Y value represents the position of the slave axis corresponding to the master axis position, expressed as (X0,Y0), (X1,Y1), (X2,Y2), (X3,Y3)...(X... n ,Y n Key point coordinates describe the positional relationship between the master and slave axes. In typical cam motion (i.e., non-"cross-cycle" cam motion), X... n-1 Less than X n Furthermore, the X values ​​are all within the same master axis modal period. However, due to the existence of cross-cycles, the first few values ​​of X may be within the previous modal period, or the last few values ​​of X may be within the next modal period. This situation violates the creation rules of electronic cam curves. Therefore, the key point coordinates of cross-cycle cam motion cannot be directly used to generate electronic cam curves. To solve the above problem, in the embodiments of this application, when creating cam curves, the master and slave coordinate values ​​of key point coordinates are shifted to one master axis mode. The electronic cam coordinates used to generate electronic cam curves are (X'0,Y'0), (X'1,Y'1), (X'2,Y'2), (X'3,Y'3)...(X'0,Y'0), (X'1,Y'1), (X'2,Y'2), (X'3,Y'3)...(X'0,Y'0), (X'1,Y'1), (X'2,Y'2), (X'3,Y'3)...(X'1,Y'2), (X'1,Y'1), (X'2,Y'2), (X'3,Y'3), ... (X'1,Y'2), (X'1,Y'1), (X'1,Y'1), (X'2,Y'2), (X'3,Y'3), ... ...2), (X'1,Y'1), (X'1,Y'2), (X'1,Y'2), (X'1,Y'2), ... (X'1,Y'2), (X'1,Y'1), (X'1,Y'2), (X'1,Y'2), (X'1,Y'2), (X'1,Y'2), (X'1,Y'2), (X'1,Y'2 n ,Y' n This allows the creation of the cam profile to be completed within one spindle cycle.

[0053] Specifically, in one feasible implementation, the keypoint coordinates include the coordinates from the starting point P0(X0, Y0) and the coordinates from the ending point P0(X0, Y0). n (X n Y n ).

[0054] Based on the above embodiments, in one feasible implementation, step S103 further includes:

[0055] S1031: Calculate the offset coordinate value △x of the main axis;

[0056] S1032: Based on the offset coordinate value Δx of the principal axis, adjust the principal axis coordinate X... i Perform an offset to generate the principal axis offset coordinate X' i , where X i When -△x>0, X' i =X i -△x; when X i When -△x≤0, X' i =Xi -△x+A0, where A0 is the modal length of the principal axis.

[0057] By using steps S1031 and S1032, the spindle coordinates can be shifted to the same spindle modal period, thereby satisfying the creation rules of the electronic cam curve.

[0058] Specifically, in one feasible implementation, Δx = X0. By setting the principal axis coordinate offset value Δx to X0, the origin of the principal axis and the origin of the slave axis can be offset together, such as... Figure 2 and Figure 3 As shown.

[0059] Specifically, in one feasible implementation, Y' i =Y i To reduce computational load, the keypoint's Y' coordinates can be left unchanged. i =Y i Cam synchronization is achieved by specifying the method of synchronization from the axis.

[0060] Based on the above embodiments, in one feasible implementation, after step S103, the method further includes:

[0061] S104: Set the electronic cam coordinate P' i (X' i Y' i Arrange the electronic cam coordinates P' in ascending order according to the spindle position. i (X' i Y' i Arranged in ascending order according to the principal axis position, thus making X n-1 Less than X n This satisfies the rules for creating cam curves.

[0062] Based on the above embodiments, in one feasible implementation, after step S105, the method further includes:

[0063] S106: Set the electronic cam synchronization mode, wherein the cam synchronization mode is relative synchronization of the main spindle and absolute synchronization of the slave spindle, that is, the main spindle starts from the current position and the slave spindle starts from the absolute zero point (i.e., the position origin of the slave spindle).

[0064] Based on the above embodiments, in one feasible implementation, after step S106, the method further includes:

[0065] S107: Specifies the timing of electronic cam synchronization, wherein the electronic cam synchronization timing is completed when the spindle runs to X0.

[0066] If the starting position of the slave axis is not 0, it will cause the starting speed to be "infinite", resulting in a servo alarm. Therefore, in this embodiment, the synchronization timing of the electronic cam is specified, that is, synchronization is completed at the specified position X0 of the main axis. That is, when the main axis starts, the slave axis does not start, but automatically calculates the trajectory to be run to ensure synchronization at the specified synchronization position point. As Figure 4 shown, when the main axis runs to X0, the slave axis completes synchronization.

[0067] To facilitate understanding of the above embodiment, the following will be described with reference to Table 1, Table 2, Figures 2-5 and examples will be given. Exemplarily, Table 1 is a key point coordinate sequence table of a "cross-cycle" cam movement. Table 1 contains a total of 6 key point coordinates P0(240,0), P1(300,0), P2(50,60), P3(180,60), P4(200,0), and P5(240,0), where P0 is the position starting point of one slave axis cycle and P5 is the position end point of this slave axis cycle. It can be seen from Table 1 that the X-axis coordinate X1 of point P1 is 300, and the X-axis coordinate X2 of point P2 is 50. X2 < X1, which does not satisfy X n-1 less than X n , that is, the X value is not within the same main axis modal cycle. Therefore, the key point coordinates in Table 1 cannot directly generate an electronic cam curve.

[0068] Serial Number X Y <![CDATA[P0]]> 240 0 <![CDATA[P1]]> 300 0 <![CDATA[P2]]> 50 60 <![CDATA[P3]]> 180 60 <![CDATA[P4]]> 200 0 <![CDATA[P5]]> 240 0

[0069] Table 1

[0070] According to the cross-cycle cam curve creation and synchronization control method of the present invention, first, the key point coordinates in Table 1 are offset. It can be seen from Table 1 that the key point coordinates P0(X0, Y0) of the starting position of the slave axis are (240,0), then the offset coordinate value △x of the main axis is X0 = 240. Based on the calculation formula in step S1032 (X i -△x > 0, X' i = X i -△x; X i -△x ≤ 0, X' i = X i -△x + A0), the offset main axis coordinate value X' can be calculated. At the same time, in order to reduce the calculation amount, the slave axis coordinates of the key points can be unchanged, Y' i = Y i , so the offset electronic cam coordinates are shown in Table 2.

[0071] Serial Number X Y X' Y' <![CDATA[P0]]> 240 0 0 0 <![CDATA[P1]]> 300 0 60 0 <![CDATA[P2]]> 50 60 170 60 <![CDATA[P3]]> 180 60 300 60 <![CDATA[P4]]> 200 0 320 0 <![CDATA[P5]]> 240 0 360 0

[0072] Table 2

[0073] As shown in Table 2, the principal axis coordinates of the offset electronic cam coordinates P'0(0,0), P'1(60,0), P'2(170,60), P'3(300,60), P'4(320,0), and P'5(360,0) are located within the same principal axis modal period. Therefore, the offset electronic cam coordinates satisfy the creation rules of the electronic cam curve and can be used to generate the electronic cam curve. Table 2 also shows that the point-to-point correspondence between the principal and slave axes of the offset electronic cam coordinates changes, but the spacing between principal axis pixels remains unchanged. For example, before the offset, the principal axis moves from 180 to 200, and the slave axis moves from 60 to 0. After the offset, the principal axis moves from 300 to 320 before the slave axis moves from 60 to 0. The principal axis spacing remains 20. The same applies to other keypoints. Therefore, the shape of the cam table does not change after the offset; only the "offset" occurs. Figure 4 and Figure 5 As shown.

[0074] To achieve "cross-cycle" cam motion, the cam synchronization method needs further configuration, specifying relative synchronization for the master axis and absolute synchronization for the slave axis. Simultaneously, to avoid servo alarms triggered by a non-zero starting position of the slave axis, a reference position synchronization method is adopted. This means synchronization is completed at a specified position X0 on the master axis. When the master axis starts, the slave axis does not start but automatically calculates the trajectory to be executed, ensuring synchronization is completed at the specified synchronization position. For example... Figure 4 As shown, when the spindle reaches X0, the slave axis completes synchronization. Therefore, the cross-cycle cam curve creation and synchronization control of this application solves the problem of cross-cycle cams without adding a virtual spindle, reduces costs, and meets user needs.

[0075] Example 2

[0076] Example 2 provides a cross-cycle cam curve creation and synchronization control system according to this application. This system is used to execute the cross-cycle cam curve creation and synchronization control method provided in the aforementioned method embodiments. It includes:

[0077] The acquisition module is configured to acquire the coordinates Pi(Xi, Yi) of N key points in one slave axis period, where Xi is the master axis coordinate and Yi is the slave axis coordinate corresponding to Xi, and Xi is located in different master axis periods.

[0078] Specifically, in one feasible implementation, the keypoint coordinates include the coordinates from the starting point P0(X0, Y0) and the coordinates from the ending point P0(X0, Y0). n (X n Y n ).

[0079] The calculation module is configured to calculate the electronic cam coordinates P'i (X'i, Y'i) used to generate the electronic cam curve based on the key point coordinates Pi (Xi, Yi).

[0080] In one feasible implementation, the computing module further includes a first computing submodule and a second computing submodule, wherein,

[0081] The first calculation submodule is configured to calculate the offset coordinate value △x of the main axis;

[0082] The second calculation submodule is configured to: calculate the principal axis coordinate X based on the offset coordinate value Δx of the principal axis. i Perform an offset to generate the principal axis offset coordinate X' i , where X i When -△x>0, X' i =X i -△x; when X i When -△x≤0, X' i =X i -△x+A0, where A0 is the modal length of the principal axis.

[0083] The first and second calculation submodules can be used to offset the spindle coordinates to the same spindle modal period, thereby satisfying the creation rules of the electronic cam curve.

[0084] Specifically, in one feasible implementation, Δx = X0. By setting the principal axis coordinate offset value Δx to X0, the origin of the principal axis and the origin of the slave axis can be offset together, such as... Figure 2 and Figure 3 As shown.

[0085] Specifically, in one feasible implementation, Y' i =Y i To reduce computational load, the keypoint's Y' coordinates can be left unchanged. i =Y i Cam synchronization is achieved by specifying the method of synchronization from the axis.

[0086] The electronic cam curve generation module is configured to generate a cross-cycle electronic cam curve based on the electronic cam coordinates P'i(X'i, Y'i).

[0087] Based on the above embodiments, in one feasible implementation, the system further includes a sorting module. The sorting module is configured to: sort the electronic cam coordinates P' i (X' i Y' i Arrange the electronic cam coordinates P' in ascending order according to the spindle position. i (X'i Y' i Arranged in ascending order according to the principal axis position, thus making X n-1 Less than X n This satisfies the rules for creating cam curves.

[0088] Furthermore, in one feasible implementation, the system further includes a synchronization mode setting module. This synchronization mode setting module is configured to set an electronic cam synchronization mode, wherein the cam synchronization mode is relative synchronization of the main spindle and absolute synchronization of the slave spindle, that is, the main spindle starts from its current position, and the slave spindle starts from its absolute zero point (i.e., the origin of the slave spindle's position).

[0089] Furthermore, in one feasible implementation, the system further includes a synchronization timing setting module. This module is configured to specify the electronic cam synchronization timing, wherein synchronization is completed when the spindle reaches X0.

[0090] If the starting position of the slave axis is not 0, it will result in an "infinite" starting speed, triggering a servo alarm. Therefore, this embodiment specifies the synchronization timing of the electronic cam, that is, synchronization is completed at a specified position X0 of the main spindle. That is, when the main spindle starts, the slave axis does not start, but automatically calculates the trajectory to be run to ensure synchronization is completed at the specified synchronization position point. Figure 4 As shown, when the spindle reaches X0, the slave axis completes synchronization.

[0091] This application's cross-cycle cam curve creation and synchronization control system offsets the master and slave coordinate values ​​of key points in the "cross-cycle" motion to a master spindle mode, generating the electronic cam coordinates used for the electronic cam curve, and creating the cam curve based on the offset electronic cam coordinates. By setting the cam synchronization method, the "cross-cycle" problem of the cam is solved without adding a virtual master spindle, saving system control resources, reducing equipment costs, and also reducing equipment and operational requirements, thereby greatly improving production efficiency and saving labor costs.

[0092] The cross-cycle cam curve creation and synchronization control system provided in this embodiment is used to implement the corresponding cross-cycle cam curve creation and synchronization control methods in the aforementioned multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0093] The present invention has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above embodiments, those skilled in the art will know that more embodiments of the present invention can be obtained by combining the code review methods in the different embodiments. These embodiments are also within the protection scope of the present invention.

Claims

1. A method for creating and synchronizing cross-cycle cam curves, characterized in that, Includes the following steps: Obtain the coordinates P of N key points on the axis period. i (X) i Y i ), where X i Principal axis coordinates, Y i To be with X i The corresponding x-axis coordinates, X i Located in different spindle cycles; Based on the key point coordinates P i (X) i Y i ), calculate the electronic cam coordinates P used to generate the electronic cam curve ’ i (X) ’ i Y ’ i ); Based on the electronic cam coordinate P ’ i (X) ’ i Y ’ i This generates a cross-cycle electronic cam curve; Based on the key point coordinates P i (X) i Y i ), calculate the electronic cam coordinates P used to generate the electronic cam curve ’ i (X) ’ i Y ’ i The steps further include: Calculate the offset coordinate value Δx of the principal axis; Based on the offset coordinate value Δx of the principal axis, the principal axis coordinate X... i Perform the offset to generate the principal axis offset coordinate X. ’ i , where X i - When △x > 0, X ’ i = X i -△x; when X i - When △x ≤ 0, X ’ i = X i - △x +A0, where A0 is the modal length of the principal axis.

2. The method for creating and synchronizing cross-cycle cam curves as described in claim 1, characterized in that, The key point coordinates include the coordinates from the starting point P0 (X0, Y0) and the coordinates from the ending point P0 (X0, Y0). n (X) n Y n ).

3. The method for creating and synchronizing cross-cycle cam curves as described in claim 2, characterized in that, △x = X0.

4. The method for creating and synchronizing cross-cycle cam curves as described in claim 3, characterized in that, AND ’ i = And i 。 5. The method for creating and synchronizing cross-cycle cam curves as described in claim 4, characterized in that, Based on the electronic cam coordinate P ’ i (X) ’ i Y ’ i Before the step of generating the electronic cam curve across cycles, the following steps are also included: The electronic cam coordinate P ’ i (X) ’ i Y ’ i Arranged in ascending order according to the spindle position.

6. The method for creating and synchronizing cross-cycle cam curves as described in claim 5, characterized in that, Based on the key point coordinates P i (X) i Y i ), calculate the electronic cam coordinates P used to generate the electronic cam curve ’ i (X) ’ i Y ’ i Following the steps of ), it also includes: An electronic cam synchronization method is set, wherein the cam synchronization method is relative synchronization of the master axis and absolute synchronization of the slave axis.

7. The method for creating and synchronizing cross-cycle cam curves as described in claim 6, characterized in that, After setting the electronic cam synchronization method, the following steps are also included: Specify the timing for electronic cam synchronization, wherein the electronic cam synchronization is completed when the spindle reaches X0.

8. A cross-cycle cam curve creation and synchronization control system, characterized in that, include: Acquisition module: Used to acquire the coordinates P of N key points in one slave axis period. i (X) i Y i ), where X i Principal axis coordinates, Y i To be with X i The corresponding x-axis coordinates, X i Located in different spindle cycles; Calculation module: used to calculate based on the coordinates P of the key point i (X) i Y i ), calculate the electronic cam coordinates P used to generate the electronic cam curve ’ i (X) ’ i Y ’ i ); Electronic cam curve generation module: used to generate curves based on the electronic cam coordinates P. ’ i (X) ’ i Y ’ i This generates a cross-cycle electronic cam curve; The computing module is configured to perform the following steps: Calculate the offset coordinate value Δx of the principal axis; The principal axis coordinate Xi is offset based on the principal axis offset coordinate value Δx to generate the principal axis offset coordinate X'i, where X'i = Xi - Δx when Xi - Δx > 0; and X'i = Xi - Δx + A0 when Xi - Δx ≤ 0, where A0 is the modal length of the principal axis.

9. A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores instructions, characterized in that, When executed by a processor, the instructions cause the processor to perform the steps of the method as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: Processor and memory, wherein: The memory stores a program configured to cause the processor to perform the steps of the method as described in any one of claims 1 to 7 when executed by the processor.

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