Abstract: In an incremental measuring instrument for measuring the relative position of two objects, of the type including reference marks absolutely positioned with respect to a graduation of a scale, a first scanning plate with scanning fields for the graduation is provided in a scanning unit which is shiftable on a guide independent of the guide of the objects to be measured. The second scanning plate is connected to the first scanning plate by means of a coupling which is rigid in the measuring direction. In this way the separation of the first and second scanning plates with respect to the scale can be adjusted independently for optimal scanning of both the graduation and the reference marks.

Abstract: A method of run-length-limited encoding strings of data including a sequence of synchronizing bits having a value of binary zero for providing corresponding encoded bits which, when recorded on a magnetic storage medium, provide a maximum number of flux transitions. The steps of this method include serially receiving such a string of input bits, dividing the string of input bits into unique bit groups, replacing each group with a corresponding collection of encoded bits conforming with the limitations of the run-length-limited encoding scheme, including replacing each divided group of three input binary zeros into a collection of six encoded bits having two binary ones separated by two binary zeros, serially transmitting these collections of encoded bits for recording the same on the medium in the same sequence as the corresponding input bit groups are received.

Abstract: An adaptive motor pulsing apparatus for a driven element positioning system is disclosed which divides the available time between recurring motor on periods and motor off periods, and which also varies the duty cycle of the motor during successive on periods in order to provide precise positioning control. The final approach uses a "nudging" technique which increases the duty cycle by increments until forward motion of the driven element is detected.

Abstract: In a firing angle control system for a converting device for an AC electric motor-vehicle fed with AC electric power and having, as its main electric motor, a DC electric motor, the converting device including a main rectifier connected to the armature and a field rectifier connected to the field winding, an abrupt change in the AC voltage of the converting device is detected and, upon such detection, a main rectifier voltage target signal is corrected to compensate for a difference in the rate of change between the armature current and the field current which would occur if the correction were not made.

Abstract: A numerically controlled motor provides a drive at a rate which is proportional to rotation of an independently driven shaft. In addition, the ratio of such rate to such rotation can be varied by a control circuit by which, in response to each pulse supplied by an encoder on said shaft, an incremental value, corresponding to an analogue signal supplied by a potentiometer to an A-D converter, which converts said signal to said value, is supplied to an accumulator, which sums the successively supplied increment values and, at a predetermined cumulative value, "overflows", such "overflow" supplying a drive signal to the n.c. motor. The potentiometer is manually set by an operator to vary the increment value and thus the frequency of "overflow" in relation to shaft rotation. The control circuit also enables "reverse" and "fast forward" drive to the motor independently of the shaft.

Abstract: An analog-to-digital converter circuit is disclosed employing a plurality of comparators each having the same reference voltage input. At each comparator stage plus and minus binary "bit weights" are developed. Selection of either the positive or negative bit weights at a stage allows a binary fraction to be added or subtracted. The number of comparator stages need only equal the number of desired digit positions in the output instead of having one comparator for each quantizing level. The comparator stages operate in a "wave" or "pipeline" manner under the control of a plurality of high speed wave forms so that each stage decodes its respective binary digit for one analog sample while the other stages are decoding their respective binary digits of other analog samples.

Abstract: A synchro/resolver, preferably for use in combination with a similarly constructed servo motor, having an annular stator with circumferentially arranged poles, each having a plurality of regularly pitched teeth and each pole with its own coil winding thereon, and with the coils being connected in phases, an annular, toothed rotor positioned adjacent to the stator so that a change in rotational position of the rotor changes the inductance of the coil windings as a function of the position of the rotor's teeth vis-a-vis the stators' teeth, and a detecting circuit for sensing alternating current flowing in each coil phase and for amplifying the differences between the currents in each phase to produce a rotational position output signal for commutating the motor, the stator being divided at its longitudinal midpoint into two halves which are rotated with respect to each other by a distance equal to one tooth pitch divided by the number of phases and being separated from each other by a lamina of non-magnetic mat

Abstract: A modulation circuit of a D/A converter comprises a pulse number modulation circuit for modulating some bits of digital data and for dispersing a pulse or pulses in one or more resultant pulses, a pulse width modulation circuit for modulating the remain bits of the digital data and for dividing pulses in a resultant pulse train and a combination circuit for combining and positioning at least one pulse in the pulse train adjacent the pulse or pulses in the one or more resultant pulses formed by the pulse number modulation circuit.

Abstract: In each drive direction of a degree of freedom, or in each of the drive directions of several degrees of freedom, the industrial robot is provided with an absolute measured value transmitter or transducer and a relative measured value transmitter which give the instantaneous position of the drives. Should the signal put out by the absolute measured value transmitter not fall within a preselected range of a first window circuit, the robot will be switched off via the control because the robot is moving in a unpermitted working region. The reference position can be chosen with the aid of a second window circuit whose window lies within the range of the first window circuit.

Abstract: An automatic control system for controlling the operation of a sliding door system employs an electric motor for driving the sliding door system. An encoder is mounted to the shaft of the motor for generating signals which are decoded to detect the operational position of the sliding door system. A clock paced sequential logic circuit produces speed and directions signals in accordance with the detected operational position to control the speed and direction of the electric motor. Means are provided for recording the last stop position and slowing the sliding door system prior to reaching the last stop position. Safety means are provided to de-energize the motor in the event of malfunction of the motor speed control. The system also includes a reduced opening stop feature and a means for automatically establishing a sliding door reference position.

Abstract: A control for a vehicle window driving motor in an H-switch semiconductor bridge with an SCR and a FET in each opposite armature current path includes control logic circuitry enabling one-touch actuation of window movement in either direction with stoppage by actuating either actuation device and with flip-flop control of the bridge elements to prevent shorting out the power supply. A variation provides automatic stoppage in the up direction by stall current sensing with automatic reverse after a time delay to allow the SCR conducting during upward movement to turn off.

Abstract: In a motor control system for a DC motor, a modulation circuit provides a plurality of pulse width modulated signals to control the current applied to the motor. The motor is coupled to a current sensing resistor and a plurality of switches responsive to the pulse width modulated control signals. The output of the current sensing resistor is summed with an input current command to provide an error signal. A modulation circuit which includes a waveform generator generates a plurality of interposed triangular waves adjustably offset by a predetermined amount. The triangular waves are compared to the error signal to provide pulse width modulated control signals which cause a "dither" current to be applied to the motor when there is substantially no input command and currents having substantially decreasing form factors to be applied as the input command increases.

Abstract: A robotic positioning system is provided which comprises a base portion; a plurality of interconnected arm members mounted on the base portion and having respective axes of movement; a hand member carried at a distal end of the arm members for supporting a functional member; a plurality of drive means associated respectively with the plurality of arm members and operable by respective drive signals for moving the arm members along the respective axes so that the functional member reaches a target spacial position and there assumes a target spacial orientation; and a gyro assembly having a frame mounted for joint movement with one of the members and a rotor supported in the frame to rapidly spin about an axis set to orient in a predetermined direction, which is invariable relative to the base portion, whereby to provide a directional reference for monitoring a spacial orientation assumed by the one member upon a movement along the corresponding axis of movement.

Abstract: A non-cutting tool or stylus (32), mounted in a position where a tool normally resides on a turret (26) of a numerically controlled machining system, rubs against the workpiece (41) as it rotates. The rubbing vibrations emanating from the workpiece (41) are picked up as a touch signal by an accelerometer (62) whose output signal is conditioned and fed to the numerical control (46). Diameter measurements, for example, are made directly by touching two opposing points on the workpiece (41) on opposite sides of the machine centerline (14) whereupon a difference calculation is made to provide the required diameter measurement.

Abstract: An integrator circuit comprising reset means by which, when it is detected that an integrator output V.sub.p for an input analog signal coincides with a plus or minus reference value, the integral output is reset to the vicinity of the middle of the plus and minus reference values, in effect, without interrupting the integrating operation; a circuit which produces a pulse each time coincidence is detected; and a circuit which produces a direction signal indicating whether the coincidence results from an increase or a decrease of the integral input.The pulses produced in the state in which the direction signal is indicating an increase are counted up, and the pulses produced in the state in which the direction signal is indicating a decrease are counted down, whereby the precise integral value of the input analog signal can be detected.

Abstract: A vector quantizer receives a plurality of input signals in block form and operates to determine an output vector having the least distortion with respect to an input vector by various techniques. A coded output or output vector codetable address is output from a coder of the device for receipt by a decoder which constructs a proper output vector signal.

Abstract: A stop-position controlling device for an electric windshield wiper is disclosed, which comprises an oscillation means for a wiper blade and a switch mechanism provide with armature shortcircuiting contacts for forcedly stopping the wiper blade at a predetermined position under a turn-off state of a wiper switch. In this device, the armature shortcircuiting contacts are shifted at plural positions for forcedly stopping the wiper motor at different positions and a turnover means is further arranged therefor, or a contact moving means is disposed for displacing the armature shortcircuiting contacts to plural positions.

Abstract: A latched comparator circuit is disclosed in which a voltage comparator circuit of a differential construction composing a part of the latched comparator circuit is substituted for by a plurality of differential amplifying circuits connected in parallel to the prior stage thereof and which are supplied with a differential input. Also, there is disclosed a latched comparator circuit in which a voltage comparator circuit of a differential construction composing a part of the latched comparator circuit is substituted for by a plurality of differential amplifying circuits connected in parallel to the prior stage thereof that are supplied with a differential input for voltage comparison and in which a switching circuit is provided between the differential amplifying circuits and a latch circuit for electrically separating both of them upon latch operation.

Abstract: A method of controlling the operation of a thermoelectric power generating plant, in which the operation of the steam generating equipment and the turbine is controlled in accordance with the plant operation parameters obtained from given patterns of start up and operation of the plant.

Abstract: Techniques for controlling motor winding current by employing ON/OFF duty cycle control switching between an upper and a lower current threshold to establish an average motor winding current approximately midway between the two thresholds. Rising current during ON time intervals is directly measured, and an upper threshold detector is employed to turn OFF a switching transistor when the upper current threshold is reached. Rather than directly measuring decay or flyback current which circulates in the motor windings through free-wheeling diodes for comparison against the lower current threshold, the decay time is simulated. A lower current threshold detector and an upper current threshold detector are employed. Following winding energization, the lower threshold current detector starts a timing device. The upper threshold current detector subsequently stops the timing device, and turns OFF the switching transistor.