Abstract: A pulley having a special outer contour particularly adapted to establish self aligning of narrow width belts rotating thereon. The outside diameter of the pulley is gradually crowned from each end with a more sharply crowned ridge located at the center intermediate the ends of the pulley to provide a compound crowned contour.

Abstract: A wheel slide 20 for supporting a grinding wheel 40 is mounted on a carriage 100 which extends across a work area to engage parallel horizontal ways 61, 62 on opposite sides of the axis of rotation B of a workpiece W. The carriage 100 has ways 114, 115, 116 which support the wheel slide 20 for vertical movement toward and away from a horizontal axis B of rotation of the workpiece.

Abstract: The cam lift data is analyzed (110) through the use of a fast fourier transform (FFT) (116) to thereby obtain FFT coefficients (118) which define the amplitude and frequency content of the cam lift data. Through a combination of the kinematic model and an inverse FFT procedure, an axis control function including a position control function (Eq. 1 and Eq. 14) is determined (128) for each axis. Dynamic compensation (130) of each axis is provided for system lags and inertia loads by altering the axis control function as a proportion of the axis velocity and acceleration (130), respectively. For each controlled axis an independent vector and a corresponding dependent vector containing axis control data is generated (132). During the actual control of first and second drive motors (72, 70) of the grinding machine, position and velocity feedback signals are generated for each axis by feedback devices (82, 78).