Abstract: An electronic cam servo apparatus uses a digital servo controller to perform motion equivalent to a mechanical cam. The control apparatus has one data table representing a characteristic of a mechanical cam and utilizes a data interpolation and the first derivative of a cam position profile to determine position and velocity commands to drive a servo motor which performs motion equivalent to a mechanical cam. Alternatively, the control apparatus uses the first cam specific data table to determine the position, velocity and torque/current command to drive a servo motor. The apparatus may additionally use a second data table representing varying cam load to obtain a more accurate torque/current command correction.

Abstract: A method and apparatus for decorating or finishing the external surface of an article having a non-circular cross-sectional configuration, the apparatus including a roller for applying a decorating medium to the article surface, wherein during a teaching mode a constant force is applied by the roller to the article while the latter is rotated and during a subsequent decorating or finishing mode the force applied by the roller and the speed of rotation of the article are controlled according to a trajectory generated from information derived during the teaching mode to provide constant pressure and constant linear speed between the article and the decorating medium. In particular, the article is rotated about a first axis and the roller is mounted for free rotation about a second axis and is moved linearly along a path joining the two axes and into contact with the article surface.