Abstract: Apparatus for generating synchronized multi-axis intermittent motion utilizing electronic encoding, memory and a position control system having feed-forward control. A plurality of slave shafts are rapidly and accurately positioned in response to the positioning of a rotatable master shaft, without mechanical interconnections therebetween. An analog transducer is attached to the master shaft providing an analog position output which is fed to a master encoder which feeds a digital output to a plurality of independent digital memory devices. Each digital memory device provides, in response, an output digital signal indicative of the desired position of an associated slave shaft. The output of each memory device, through an appropriate digital-to-analog converter, is fed to a position controller which positions the associated slave shaft as desired. The servo controller includes a feedforward input to speed positioning and reduce system lag.

Abstract: Apparatus for generating synchronized multi-axis intermittent motion utilizing electronic encoding, memory and a servo controlled positioning system. A plurality of mechanically independent slave shafts are positioned in response to the position of a rotatable master shaft. An analog transducer is attached to the master shaft providing an analog output signal which is fed through an analog-to-digital converter. A digital representation of the master shaft position is provided by the analog-to-digital converter. The digital indication of master shaft position is fed to a plurality of independent digital memory devices each of which provides, in response, a digital position signal indicative of the desired position of an associated slave shaft. The output of each independent digital memory device is fed to a digital-to-analog converter which provides an analog output representative of the desired slave shaft position. A servo controller positions the associated slave shaft in response to the analog signal.

Abstract: An absolute positioning servo for positioning a shaft in response to a digital command input which utilizes a resolver, for providing an analog position indication of the shaft, an analog to digital converter, which provides a digital indication of the shaft position, a comparator for comparing the digital command input signal with the digital indication signal and providing a differential digital error signal which is converted to an analog signal and fed back to position the shaft so that the differential digital error is 0. An analog fine control positioning means is provided which positions and maintains the shaft near the center point of the position represented by the digital command input signal when the digital differential error is 0. A signal representing the difference between the exact analog position of the shaft and the digital approximate position of the shaft is provided at the output of the translator.

Abstract: A tracking digital angle encoder utilizing a translator, for providing the difference between an analog angle input and a digital angle input, a counter, which feeds the digital angle input to the translator, a detector, which controls the counter and is connected to the output of the translator to be activated by the output of the translator exceeding a predetermined trigger value, all of which are connected to cause the counter to count to a position where the output of the translator is less than the predetermined trigger level. When the output of the translator is less than the predetermined trigger value, the output of the counter provides a digital signal which closely approximates the analog angle input to the translator.