A four-axis rotary table control system and its control method

Abstract

This invention relates to the technical field of CNC machine tools, and in particular to a four-axis rotary table control system and its control method. The system includes an automatic control module, a manual adjustment module, and a brake module. The brake module is used to open or close the brake to position the rotary table. The automatic control module includes an RS communication module, a physical I / O switching module, and an angle compensation module. The manual adjustment module includes a testing module, a speed jogging module, an angle jogging module, and an origin determination module. The system adopts a modular architecture, consisting of three main functional modules: automatic control, manual adjustment, and brake. The brake module controls the opening and closing of the mechanical brake device to physically lock the rotary table at the target position, thereby improving positioning accuracy and safety. This invention meets the requirements of automated operation while supporting manual intervention and adjustment, improving the system's flexibility, reliability, and operational safety.

Description

Technical Field

[0001] This invention relates to the technical field of CNC machine tools, and in particular to a four-axis rotary table control system and its control method. Background Technology

[0002] Currently, the CNC machine tool industry widely adopts mainstream operating systems such as Mitsubishi, Siemens, and FANUC as the control core. The four-axis rotary table system, as a key functional module for complex surface machining and multi-angle positioning, is typically integrated with the machine tool host as an external expansion device. With the increasing demands for machining accuracy, efficiency, and flexible production in high-end manufacturing, the performance of the four-axis rotary table system has become an important indicator of the overall technical level of machine tools. Mainstream machine tool operating systems generally use proprietary communication protocols, resulting in low standardization of the interface between the servo system and the machine tool controller. Most servo systems can only be connected to a specific machine tool system and have poor flexibility. Furthermore, four-axis rotary tables suffer from insufficient accuracy in angle control, limited compensation methods, and unstable machine tool signal processing. They also lack a comprehensive signal status monitoring and fault self-diagnosis mechanism, making it difficult to promptly locate the root cause of system anomalies. Summary of the Invention

[0003] This invention addresses the problems of existing technologies by providing a four-axis turntable control system and its control method. The system adopts a modular architecture and consists of three main functional modules: automatic control, manual debugging, and brake holding. Among them, the brake holding module controls the opening and closing of the mechanical brake device to achieve physical locking of the turntable equipment at the target position, thereby improving positioning accuracy and safety. The embodiments of this application achieve the unity of high-precision positioning and safe braking, which not only meets the needs of automated operation but also supports manual intervention and debugging, improving the system's flexibility, reliability, and operational safety.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] This invention provides a four-axis turntable control system, which includes an automatic control module, a manual adjustment module, and a brake module. The brake module is used to open or close the brake to position the turntable device.

[0006] The automatic control module includes an RS communication module, a physical I / O switching module, and an angle compensation module. The RS communication module is used to receive instructions from the host computer. The physical I / O switching module obtains instructions by periodically scanning the physical I / O level status. The RS communication module and the physical I / O switching module work together to obtain position instructions and speed instructions. If the instructions are valid, they are input into the instruction angle compensation module. The angle compensation module is used to perform angle compensation optimization processing. After the angle compensation module is completed, the brake module completes the positioning and operation of the turntable equipment.

[0007] The manual debugging module includes a testing module, a speed jogging module, an angle jogging module, and an origin determination module. The origin determination module is used to trigger direct positioning of the current position as the origin of the turntable equipment. The testing module is used to obtain the starting angle number, the ending angle number, and the number of cycles to obtain position and speed commands, which are then sent to the brake module for positioning. The speed jogging module is used to obtain speed commands and acceleration / deceleration times. The angle jogging module is used to obtain angle jogging step units to obtain position, speed, and acceleration / deceleration times. If the system determines that the angle limit has not been triggered, the brake module completes the positioning and operation of the turntable equipment.

[0008] The RS communication module includes Siemens communication protocol, FANUC communication protocol and Mitsubishi communication protocol.

[0009] The physical IO switching module is equipped with an IO angle instruction table, which includes an IO angle brake enable function bit and multiple IO angle instruction input bits. The IO angle instruction input bits are used for users to input the angle according to their actual needs. The IO angle brake enable function bit is used to configure whether the brake holding function of each IO angle instruction is enabled.

[0010] The angle compensation module includes a point-to-point angle compensation unit, a linear interval angle compensation unit, and a gear backlash compensation unit. The angle compensation module is equipped with an angle compensation table, which has multiple compensation angle input positions and multiple angle compensation value input positions, and the compensation angle input positions and the angle compensation value input positions correspond one-to-one.

[0011] The point-to-point angle compensation unit performs angle compensation based on the angle compensation table filled in by the user. The system will traverse the angle compensation table according to the obtained angle command and finally find the angle compensation value corresponding to the compensation angle.

[0012] The linear interval angle compensation unit is used to traverse and sort the angle compensation table, find the compensation interval corresponding to the angle command, and perform linear interpolation compensation calculation.

[0013] The brake holding module includes a brake holding function table, which is set with a four-axis rotational brake signal detection timeout threshold parameter bit, a turntable brake enable parameter bit, a turntable brake signal detection parameter bit, and a turntable brake release delay parameter bit.

[0014] When the turntable brake enable parameter is equal to 0, the turntable has no brake holding device, and the system moves directly according to the received angle command.

[0015] When the turntable brake enable parameter bit is equal to 1, the system will output a valid brake enable signal through the port after receiving a valid angle command. If the turntable brake signal detection parameter bit is equal to 0, the system will directly execute the angle command after outputting the valid brake enable signal. If the turntable brake signal detection parameter bit is equal to 1, the system will wait for the turntable brake release delay parameter bit to arrive after outputting the valid brake enable signal and after the brake signal input is validly triggered, before executing the angle command. When the braking function is enabled and the detection function is turned on, the system will wait to detect the brake signal input. If the detection timeout threshold set on P16.19 is exceeded and the system has not detected a valid brake signal input, a warning will be issued. The brake signal must be checked and the fault manually cleared before operation can continue. This invention also provides a control method for the four-axis turntable control system described above, which includes the following steps:

[0016] Step S1, System Initialization and Mode Selection:

[0017] Start the control system and determine the current operating mode: automatic control mode or manual debugging mode;

[0018] If the automatic control mode is selected, proceed to step S2; if the manual debugging mode is selected, proceed to step S5.

[0019] Step S2, Obtaining commands in automatic control mode:

[0020] The RS communication module receives position and speed commands sent by the host computer.

[0021] Meanwhile, the physical I / O switching module periodically scans the physical I / O level status to obtain local hard-wiring instructions;

[0022] The system checks the validity of commands from both sources. If either command is valid, it is used as the current control command.

[0023] Step S3, Angle Compensation Processing:

[0024] Input valid commands into the angle compensation module;

[0025] Step S4: Perform positioning and brake control.

[0026] The compensated final position and speed commands are sent to the drive unit to control the turntable operation;

[0027] Once the turntable reaches the target position, the brake module is triggered to close the brake and achieve precise positioning and locking.

[0028] Once the location is established, the system enters standby mode, awaiting the next instruction.

[0029] Step S5, Function selection in manual debugging mode:

[0030] The user selects any of the following sub-modes:

[0031] Origin determination mode: Sets the current position as the mechanical origin and updates the system zero-point reference;

[0032] Test mode: Input the starting angle number, ending angle number, and number of cycles to automatically generate a position / velocity command sequence;

[0033] Speed ​​jog mode: Input speed value and acceleration / deceleration time to achieve continuous speed jog operation;

[0034] Angle jog mode: Input the angle step unit to generate the corresponding position command, speed command and acceleration / deceleration parameters.

[0035] Step S6, Safety Judgment and Execution in Manual Mode:

[0036] Before executing a manual command, the system checks in real time whether the angle limit switch has been triggered;

[0037] If the angle limit is not triggered, the generated command will be sent to the drive unit, and the positioning and braking will be completed through the brake-holding module after the position is reached.

[0038] If the limit switch is triggered, the movement will stop immediately and an alarm will sound. The brake release will be prohibited until the limit switch is lifted.

[0039] Step S7, Loop Monitoring and Mode Switching:

[0040] The system continuously monitors the operating status, command validity, and safety signals;

[0041] It supports dynamic switching between automatic and manual modes, ensuring that the brake is in a safe locked state during switching.

[0042] The beneficial effects of this invention are:

[0043] The system of this invention adopts a modular architecture, consisting of three major functional modules: automatic control, manual debugging, and brake holding. Among them, the brake holding module controls the opening and closing of the mechanical brake device to achieve physical locking of the turntable equipment at the target position, thereby improving positioning accuracy and safety. The embodiments of this application achieve the unity of high-precision positioning and safe braking, which not only meets the needs of automated operation, but also supports manual intervention and debugging, thereby improving the system's flexibility, reliability, and operational safety.

[0044] Furthermore, the automatic control module integrates two input methods: communication commands (RS communication module) and hard-wired IO commands (physical IO switching module). The original commands are optimized through the angle compensation module. The system prioritizes the validity of the commands to ensure the accuracy and redundancy of the control signals. The embodiments of this application improve the diversity and robustness of command acquisition. Through angle compensation optimization, mechanical errors are effectively eliminated, and the accuracy and stability of the turntable movement are improved.

[0045] The four-axis rotary table control system and method of the present invention achieve the following through multi-source command fusion, high-precision angle compensation, flexible manual debugging function and intelligent brake control mechanism: high positioning accuracy; high system reliability; strong adaptability; high safety. Through the automatic and manual dual-mode coordination, multi-level angle compensation mechanism and brake precise positioning, the system and control method achieve high-precision and high-reliability four-axis rotary table control. Attached Figure Description

[0046] Figure 1 This is a control principle diagram of the present invention.

[0047] Figure 2 This is a schematic diagram of point-to-point compensation of the point-to-point angle compensation unit of the present invention.

[0048] Figure 3 This is a schematic diagram of the linear interval compensation of the linear interval angle compensation unit of the present invention.

[0049] Figure 4 This is a schematic diagram of the angle compensation table of the present invention.

[0050] Figure 5 This is a schematic diagram of the IO angle instruction table of the present invention.

[0051] Figure 6 This is a schematic diagram of the brake function table of the present invention. Detailed Implementation

[0052] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention. The present invention will be described in detail below with reference to the accompanying drawings.

[0053] Example 1

[0054] In Embodiment 1 of this application, a four-axis rotary table control system is provided, such as... Figures 1 to 6 As shown, it includes an automatic control module, a manual debugging module, and a brake module. The brake module is used to open or close the brake to position the turntable equipment.

[0055] The automatic control module includes an RS communication module, a physical I / O switching module, and an angle compensation module. The RS communication module is used to receive instructions from the host computer. The physical I / O switching module obtains instructions by periodically scanning the physical I / O level status. The RS communication module and the physical I / O switching module work together to obtain position instructions and speed instructions. If the instructions are valid, they are input into the instruction angle compensation module. The angle compensation module is used to perform angle compensation optimization processing. After the angle compensation module is completed, the brake module completes the positioning and operation of the turntable equipment.

[0056] The manual debugging module includes a testing module, a speed jogging module, an angle jogging module, and an origin determination module. The origin determination module is used to trigger direct positioning of the current position as the origin of the turntable equipment. The testing module is used to obtain the starting angle number, the ending angle number, and the number of cycles to obtain position and speed commands, which are then sent to the brake module for positioning. The speed jogging module is used to obtain speed commands and acceleration / deceleration times. The angle jogging module is used to obtain angle jogging step units to obtain position, speed, and acceleration / deceleration times. If the system determines that the angle limit has not been triggered, the brake module completes the positioning and operation of the turntable equipment.

[0057] Specifically, the system in this application adopts a modular architecture, consisting of three major functional modules: automatic control, manual debugging, and brake holding. The brake holding module controls the opening and closing of the mechanical brake device to physically lock the turntable equipment at the target position, thereby improving positioning accuracy and safety. This application embodiment achieves the unification of high-precision positioning and safe braking, which not only meets the needs of automated operation but also supports manual intervention and debugging, improving the system's flexibility, reliability, and operational safety.

[0058] Furthermore, the automatic control module integrates two input methods: communication commands (RS communication module) and hard-wired IO commands (physical IO switching module). The original commands are optimized through the angle compensation module. The system prioritizes the validity of the commands to ensure the accuracy and redundancy of the control signals. The embodiments of this application improve the diversity and robustness of command acquisition. Through angle compensation optimization, mechanical errors are effectively eliminated, and the accuracy and stability of the turntable movement are improved.

[0059] In this embodiment, the RS communication module includes Siemens communication protocol, FANUC communication protocol, and Mitsubishi communication protocol. Specifically, the RS communication module is compatible with the communication protocols of mainstream industrial PLC / CNC systems such as Siemens, FANUC, and Mitsubishi, enabling seamless integration with host computers of different brands; it enhances the system's versatility and integration capabilities, facilitates deployment in various industrial automation environments, and reduces customer equipment compatibility costs.

[0060] In this embodiment, the physical I / O switching module is equipped with an I / O angle instruction table. This table includes an I / O angle brake enable bit and multiple I / O angle instruction input bits. The input bits allow users to input angles according to their actual needs. The I / O angle brake enable bit configures whether the brake function of each I / O angle instruction is enabled. Specifically, the physical I / O switching module reads local hard-wired instructions by periodically scanning the digital I / O level status and maps the I / O signals to specific angle instructions using the preset I / O angle instruction table. It also supports bit-by-bit configuration of whether each angle instruction enables the brake function. Under the above configuration, this embodiment provides a local control method that allows basic positioning operations to be completed without a host computer, suitable for emergency operations or network interruption scenarios. The brake enable configuration enhances the safety and controllability of the operation.

[0061] In this embodiment of the application, the angle compensation module includes a point-to-point angle compensation unit, a linear interval angle compensation unit, and a gear backlash compensation unit; the angle compensation module is provided with an angle compensation table, the angle compensation table is provided with multiple compensation angle input positions and multiple angle compensation value input positions, and the compensation angle input positions correspond one-to-one with the angle compensation value input positions;

[0062] The point-to-point angle compensation unit performs angle compensation based on the angle compensation table filled in by the user. The system will traverse the angle compensation table according to the obtained angle command and finally find the angle compensation value corresponding to the compensation angle.

[0063] The linear interval angle compensation unit is used to traverse and sort the angle compensation table, find the compensation interval corresponding to the angle command, and perform linear interpolation compensation calculation.

[0064] Specifically, under the above settings, the angle compensation module includes three compensation mechanisms: point-to-point compensation: directly matching compensation values ​​based on a lookup table; linear interval compensation: performing linear interpolation within an interval for non-precisely matched angles; and gear backlash compensation: specifically compensating for backlash errors caused by mechanical transmission backlash. All compensation parameters are stored in the angle compensation table, which users can customize. This angle compensation module significantly improves the positioning accuracy of the system in complex mechanical environments, and is especially suitable for high-precision application scenarios with assembly errors, wear, or backlash.

[0065] In this embodiment of the application, the brake holding module includes a brake holding function table, which is configured with a four-axis rotating brake signal detection timeout threshold parameter bit, a turntable brake enable parameter bit, a turntable brake signal detection parameter bit, and a turntable brake release delay parameter bit.

[0066] When the turntable brake enable parameter is equal to 0, the turntable has no brake holding device, and the system moves directly according to the received angle command.

[0067] When the turntable brake enable parameter bit is equal to 1, the system will output a valid brake enable signal through the port after receiving a valid angle command. If the turntable brake signal detection parameter bit is equal to 0, the system will directly execute the angle command after outputting the valid brake enable signal. If the turntable brake signal detection parameter bit is equal to 1, the system will wait for the turntable brake release delay parameter bit to arrive after outputting the valid brake enable signal and after the brake signal input is validly triggered, before executing the angle command. When the brake function is enabled and the detection function is turned on, the system will wait to detect the brake signal input. If the detection timeout threshold set on P16.19 is exceeded and the system has not detected a valid brake signal input, a warning will be issued. The brake signal must be checked and the fault must be manually cleared before operation can continue.

[0068] Specifically, under the above settings, the brake holding module dynamically controls the holding brake action process through multi-parameter configuration (such as enable switch, signal detection, release delay, and timeout threshold). Depending on the different combinations of enable and detection flags, the system adopts different holding brake release strategies and has a timeout fault protection mechanism; ensuring that the holding brake action and motor movement are strictly synchronized to prevent mechanical damage caused by incomplete brake release; the timeout alarm mechanism improves the safety and maintainability of system operation.

[0069] Example 2

[0070] In a second embodiment of this application, a control method for the four-axis rotary table control system described above is provided, which includes the following steps:

[0071] Step S1, System Initialization and Mode Selection:

[0072] Start the control system and determine the current operating mode: automatic control mode or manual debugging mode;

[0073] If the automatic control mode is selected, proceed to step S2; if the manual debugging mode is selected, proceed to step S5.

[0074] Step S2, Obtaining commands in automatic control mode:

[0075] The RS communication module receives position and speed commands sent by the host computer.

[0076] Meanwhile, the physical I / O switching module periodically scans the physical I / O level status to obtain local hard-wiring instructions;

[0077] The system checks the validity of commands from both sources. If either command is valid, it is used as the current control command.

[0078] Step S3, Angle Compensation Processing:

[0079] Input valid commands into the angle compensation module;

[0080] Step S4: Perform positioning and brake control.

[0081] The compensated final position and speed commands are sent to the drive unit to control the turntable operation;

[0082] Once the turntable reaches the target position, the brake module is triggered to close the brake and achieve precise positioning and locking.

[0083] Once the location is established, the system enters standby mode, awaiting the next instruction.

[0084] Step S5, Function selection in manual debugging mode:

[0085] The user selects any of the following sub-modes:

[0086] Origin determination mode: Sets the current position as the mechanical origin and updates the system zero-point reference;

[0087] Test mode: Input the starting angle number, ending angle number, and number of cycles to automatically generate a position / velocity command sequence;

[0088] Speed ​​jog mode: Input speed value and acceleration / deceleration time to achieve continuous speed jog operation;

[0089] Angle jog mode: Input the angle step unit to generate the corresponding position command, speed command and acceleration / deceleration parameters.

[0090] Step S6, Safety Judgment and Execution in Manual Mode:

[0091] Before executing a manual command, the system checks in real time whether the angle limit switch has been triggered;

[0092] If the angle limit is not triggered, the generated command will be sent to the drive unit, and the positioning and braking will be completed through the brake-holding module after the position is reached.

[0093] If the limit switch is triggered, the movement will stop immediately and an alarm will sound. The brake release will be prohibited until the limit switch is lifted.

[0094] Step S7, Loop Monitoring and Mode Switching:

[0095] The system continuously monitors the operating status, command validity, and safety signals;

[0096] It supports dynamic switching between automatic and manual modes, ensuring that the brake is in a safe locked state during switching.

[0097] Specifically, steps S1 to S4 in this embodiment are automatic mode processes. After the system starts, it first enters mode selection. In automatic mode, communication and IO commands are received in parallel. After validity verification, they are sent to the compensation module for processing. Finally, the turntable is driven to run and the brake is triggered to lock after it reaches the position. A complete closed-loop automatic control process is constructed, which takes into account the diversity of command sources, the optimization of motion accuracy and the safety of the position locking. It is suitable for continuous, high-cycle automated production scenarios.

[0098] Step S5 in this embodiment is the manual debugging sub-mode, which provides four debugging functions: origin setting: quickly establish coordinate system reference; test cycle: simulate multi-point reciprocating motion; speed jog: used for speed adjustment or continuous fine adjustment; angle jog: realize precise step control. Under this setting, the efficiency and flexibility of on-site debugging are greatly improved, supporting the entire process operation from coarse adjustment to fine adjustment, and reducing the threshold for equipment installation and maintenance.

[0099] Step S6 in this embodiment is a manual mode safety mechanism. Before executing any manual command, the system detects the status of the angle limit switch in real time. If the limit is triggered, the movement is stopped immediately and the brake release is prohibited until the fault is manually cleared. This effectively prevents equipment damage caused by misoperation or mechanical overtravel, ensures the safety of personnel and equipment, and complies with industrial safety standards.

[0100] Step S7 in this embodiment is used for continuous system monitoring of operating status, command validity and safety signals, and supports dynamic switching between automatic and manual modes; during the switching process, the brake is kept in a locked state to avoid the risk of loss of control; seamless and safe mode switching is achieved, the system's human-machine collaboration capability is improved, and it is suitable for semi-automatic production scenarios that require frequent intervention, while ensuring mechanical safety during the switching process.

[0101] The four-axis rotary table control system and method of this application achieve the following through multi-source command fusion, high-precision angle compensation, flexible manual debugging function, and intelligent brake control mechanism: high positioning accuracy (compensation for mechanical errors); high system reliability (dual command source + fault detection); strong adaptability (multi-protocol communication + multi-mode operation); and high safety (limit protection + brake linkage + timeout alarm). Through automatic and manual dual-mode coordination, multi-level angle compensation mechanism, and precise brake positioning, this system and control method achieve high-precision and high-reliability four-axis rotary table control.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present invention without departing from the scope of the present invention are within the scope of the present invention.

Claims

1. A four-axis rotary table control system, characterized by: The automatic control module, the manual debugging module and the brake holding module are used to open or close the brake holding to position the rotating table device; The automatic control module includes an RS communication module, an entity IO switching module and an angle compensation module, the RS communication module is used to receive the speed and position instructions sent by the upper computer, the entity IO switching module obtains the local hard-wired instructions by periodically scanning the entity IO level state, and obtains the position instructions and speed instructions through the cooperation of the RS communication module and the entity IO switching module, and the effectiveness of the two sources of instructions is judged, if any instruction is effective, the instruction is input into the angle compensation module, the angle compensation module is used to execute angle compensation optimization processing, and the positioning and operation of the rotating table device are completed through the brake holding module after the angle compensation module is completed. The manual debugging module includes a test module, a speed jog module, an angle jog module and an origin determination module, the origin determination module is used to trigger the direct positioning of the current position as the origin of the rotating table device, the test module is used to obtain the starting angle number, the terminal angle number and the cycle number to obtain the position instructions and speed instructions, and then sends them to the brake holding module for positioning work, the speed jog module is used to obtain the speed instructions and acceleration and deceleration time, and the angle jog module is used to obtain the angle jog step unit to obtain the position instructions, speed instructions and acceleration and deceleration time, if the system judges that the angle limit is not triggered, the positioning and operation of the rotating table device are completed through the brake holding module. The brake holding module includes a brake holding function table, the brake holding function table is provided with a four-axis rotating state brake signal detection timeout threshold parameter bit, a rotating table brake enable parameter bit, a rotating table brake signal detection parameter bit and a rotating table brake release delay parameter bit. When the rotating table brake enable parameter bit is equal to 0, the rotating table has no brake holding device, and the system directly moves according to the received angle instructions; When the rotating table brake enable parameter bit is equal to 1, after the system receives the effective angle instructions, the brake enable signal is output through the port, if the rotating table brake signal detection parameter bit is equal to 0, after the system outputs the brake enable signal, the angle instructions are directly run, if the rotating table brake signal detection parameter bit is equal to 1, after the system outputs the brake enable signal and needs the brake signal input to be triggered, the angle instructions are run after the rotating table brake release delay parameter bit reaches, when the brake function is enabled and the detection function is opened, the system will wait for the detection brake signal input, if the set detection timeout threshold is exceeded, the system will not detect the effective brake signal input and will issue a warning, the brake signal needs to be checked and the fault needs to be manually cleared before the system can continue to run.

2. The four-axis turntable control system according to claim 1, characterized by: The RS communication module includes a Siemens communication protocol, a Fanuc communication protocol and a Mitsubishi communication protocol.

3. The four-axis turntable control system of claim 1, wherein: The entity IO switching module is provided with an IO angle instruction table, which is provided with an IO angle brake enable function bit and a plurality of IO angle instruction filling bits, the IO angle instruction filling bits are used for filling by a user according to an actual demand angle, and the IO angle brake enable function bit is used for configuring whether the brake holding function of each IO angle instruction is enabled.

4. The four-axis turntable control system of claim 1, wherein: The angle compensation module includes a point-to-point angle compensation unit, a linear interval angle compensation unit and a gear gap compensation unit; the angle compensation module is provided with an angle compensation table, which is provided with a plurality of compensation angle filling bits and a plurality of angle compensation value filling bits, and the compensation angle filling bits and the angle compensation value filling bits correspond to each other in one-to-one manner; The point-to-point angle compensation unit compensates angles according to the angle compensation table filled by the user, the system traverses the angle compensation table according to the obtained angle instruction, and finally finds the angle compensation value corresponding to the compensation angle; The linear interval angle compensation unit is used for traversing and sorting the angle compensation table, and performing linear interpolation compensation calculation on the compensation interval corresponding to the angle instruction.

5. A control method of a four-axis rotary table control system according to any one of claims 1 to 4, characterized by, The method comprises the following steps: Step S1, system initialization and mode selection: Start the control system, and judge the current operation mode: automatic control mode or manual debugging mode; If the automatic control mode is selected, step S2 is executed; if the manual debugging mode is selected, step S5 is executed; Step S2, instruction acquisition in the automatic control mode: Receive the position instruction and the speed instruction sent by the upper computer through the RS communication module; At the same time, the entity IO switching module periodically scans the entity IO level state to obtain the local hardwiring instruction; The system judges the effectiveness of the instructions from the two sources, and uses any valid instruction as the current control instruction; Step S3, angle compensation processing: Input the valid instruction into the angle compensation module; Step S4, execute positioning and brake holding control: Send the final position instruction and the speed instruction after compensation to the driving unit to control the rotation table to run; When the rotation table reaches the target position, trigger the brake holding module to close the brake holding to realize accurate positioning and locking; After positioning is completed, the system enters a standby state and waits for the next instruction; Step S5, function selection in the manual debugging mode: The user selects any of the following sub-modes: Origin determination mode: set the current position as the mechanical origin, and update the system zero point reference; Test mode: input the start angle number, the end angle number and the cycle number to automatically generate a position / speed instruction sequence; Speed point dynamic mode: input the speed value and the acceleration / deceleration time to realize continuous speed point dynamic operation; Angle point dynamic mode: input the angle step unit to generate corresponding position instructions, speed instructions and acceleration / deceleration parameters; Step S6, safety judgment and execution in the manual mode: Before executing the manual instruction, the system detects whether the angle limit switch is triggered in real time; If the angle limit is not triggered, the generated instruction is sent to the driving unit, and positioning and brake holding are completed through the brake holding module after reaching the position; If the limit is triggered, the movement is immediately stopped and an alarm is given, and the brake holding is prohibited to be released until the limit is released; Step S7, cycle monitoring and mode switching: The system continuously monitors the running state, command validity and safety signals; Support dynamic switching between automatic and manual modes, and ensure that the brake is in a safe locking state when switching.

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