Abstract: A digital control is provided for a robot having a plurality of arm joints. The control includes an electric motor for driving each of the robot arm joints and a power amplifier supplies drive current to each motor.Each joint motor has feedback control loop means including at least digital position, velocity and torque control loops operable at a predetermined sampling rate to control the associated power amplifier. Digital motor position, velocity and drive current feedback signals are generated for the control loop means for all of the robot axes.Paired system microprocessors or paired position/velocity microprocessors generate position commands for the feedback control loop means in accordance with predefined moves set forth in a robot program. A planning program generates a time profile including acceleration, slew and deceleration time segments for each commanded robot program move.

Abstract: An elevator control system and method for efficient failure control of block operation with a local area network on the traveling cable and distributed electronic control circuits in the car and proximate to the respective floors with a remote microprocessor controller for each car. A local area network also provides communication with the corridor fixtures in a serial signal format of input and output signals. Each remote controller includes a microprocessor based computer circuit which normally communicates over a multicar-link with the other and also over the local area networks for car and hall calls. Each controller implements an adaptive time based block operation with the total building being serviced, despite partial or total failure of communication between the controllers and the corridor fixtures, which would otherwise degrade the bank operation sooner and more restrictively.

Abstract: An elevator control system and method for efficient failure control with a local area network on the traveling cable and distributed electronic control circuits in the car and proximate to the respective floors with a remote microprocessor controller for each car. A local area network communicates with the corridor fixtures in a serial signal format of input and output signals. Each remote controller includes a microprocessor based computer circuit which communicates over a multicar-link with the other and also over the local area networks for car and hall calls to implement an expanded control strategy with interactive program modes with least restrictive capability. This program interacts with programs for floor control strategy and bank control strategy for the elevator system to select the best car and the most efficient operation, despite failures which would otherwise degrade the bank operation sooner and more restrictively.

Abstract: An elevator control system and method with a local area network on the traveling cable and distributed electronic control circuits in the car and proximate to the respective floors with a remote microprocessor controller for each car. A local area network communicates with the corridor fixtures in a serial signal format of input and output signals. Each remote controller includes a microprocessor based computer circuit which communicates over a multicar-link with the other and also over the local area networks for car and hall calls to implement a floor control strategy and bank control strategy for the elevator system to select the best car and the most efficient operation despite failures.

Abstract: A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.

Abstract: An AC induction motor brake control apparatus and method are provided for energizing the motor with an inverter supplied first voltage and an additional brake circuit supplied second voltage in phase with and additive to the first voltage as required to determine a desired brake torque above base speed operation.

Abstract: A control apparatus and method are provided for a load energized by an inverter coupled with a DC power source. The lag current angle between the current and the load voltage is utilized to determine when the output current is positive and when the output current is negative. The conduction times of the respective upper and lower gate turn off thyristors of each pole of the inverter are controlled in relation to the established current angle, with a provided modification of those conduction times being phased out in response to the desired output voltage for said load.

Abstract: AC induction motor energized by an inverter coupled with a DC power source. Upon shutdown of the inverter because of a fault condition or a rail gap between adjacent power sources, if the motor rotating frequency is greater than a minimum frequency then a decreased motor voltage is applied to the motor and increased as a ramp over a provided time delay period, after which the motor slip is controlled to provide a desired motor torque that is increased over a subsequent time delay period.

Abstract: An arrangement of interconnected timers is provided for operation with a microprocessor programmed to determine time delay counts that are fed out to these timers such that the timers can take care of the actual task of firing GTO inverter switches or not firing GTO inverter switches coupled with an AC traction motor for a vehicle. It is necessary to have correct transitions between the minus GTO switch and the plus GTO switch being ON for providing the desired motor voltage conditions with minimum electromagnetic interference in relation to the power supply. In addition the use of timer queues in complicated synthesis modes like the PWM and the quasi six-step operates to give the microprocessor adequate operating time for reasonable control signal time duration calculations. The timers are synchronized in hardware by a single crystal frequency, and they are synchronized in software such that the three phase independent waveforms stay 120.degree. apart.

Abstract: A door control apparatus is provided for a transit vehicle for sensing the location of a predetermined power rail in relation to a safety walkway provided along the roadway path for controlling the passenger exit from the vehicle to that walkway.