Abstract: A drive controller for a stepping motor having a plurality of excitation phases which designate stepping positions thereof, includes a motor driver for sequentially exciting the excitation phases to rotate the stepping motor in increments of one step angle, and a control section for controlling the motor driver to set an excitation interval. When the control section sets the excitation interval to be shorter than an interval of a stepping range in which the stepping motor temporarily stops for each increment, the stepping motor is driven in a slewing mode in which the rotation of the stepping motor is continued without stopping for each increment.

Abstract: A method for fault detection in a closed loop feedback control system for an actuator includes modeling the actuator for providing a model output simulating the actuator output in response to a model input which is also the actuator input, and comparing the actuator output and the model output for providing a fault indication upon exceeding a threshold. An apparatus includes a feedback control system having means for providing a feedback signal indicative of an output of the actuator, means for comparing an output demand with the feedback signal for providing an actuator output error, and means for providing to the actuator an input proportional to the error.

Abstract: An improved servomotor control method where a multiplier ratio DMR is computed in advance by an arithmetic unit (20) from a traveling distance L of a movable machine element per revolution of a servomotor, a traveling distance R per pulse of a move command, and a number N of incremental pulses generated by an absolute position-detecting pulse coder (18) per revolution of the servomotor. A move command (.DELTA.R.sub.n) is accumulated by a move command accumulator (11), an absolute position (P.sub.A ') output by the absolute position-detecting pulse coder (18) is multiplied by the multiplier ratio DMR. A difference (E.sub.r) between a value (P.sub.c) obtained by accumulating the move commands and the result (P.sub.A) of the multiplication operation is computed as a position error, and rotation of the servomotor (17) is controlled by using the position error.

Abstract: An auxiliary resolver position tracking (RPT) system for an industrial robot includes a resolver excitation and monitoring system which is powered by an uninterruptable power supply which includes a battery. The RPT system generates trapezoidal excitation pulses for the resolvers in the robot when no external excitation signal is applied, for example when the robot is shut down. Since there is relatively little motion to be detected in these instances, the RPT system switches between a slow position sampling rate, when no motion is detected, and a fast sampling rate when motion is detected. When operating on battery power, the RPT only switches to the fast sampling rate when motion is detected. To ensure that no motion data is lost when the system switches back to the slow sampling rate, the high sampling rate is maintained for a time sufficient to capture any residual motion of the robot.

Abstract: A control system, having an input command signal and driving a prime mover, is provided with variable magnitude and/or rate input signal limiting that is adjusted by maps 68,70,72,74 which set the limits for a variable magnitude limiter 14 and a variable rate limiter 22 as a function of the prime mover rate. The limiting is adjusted dynamically as the prime mover rate changes. When the prime mover enters an undesirable operating condition, the maps only limit the command signal in the direction of such condition. The adjustable limiting is enabled or disabled based on the position, rate, and/or acceleration of the prime mover.

Abstract: An active virtual pivot hand controller using motors to control reflective forces and torques. Degree of freedom parameters, stops, and reflective force rates may be easily modified without altering hardware. The location of the virtual pivot of the hand controller may be likewise readily changed.

Abstract: An industrial robot having a plurality of axes drivable by respective servomotors is stopped in operation after detecting a collision of the industrial robot with foreign matter. The monitoring of a position error of a servomotor for the axis with respect to which the collision is detected is stopped (S11), and the speed command for that axis is set to "0" (S12). A reverse torque is generated (S13) to decelerate and stop the servomotor. After elapse of a predetermined period of time (S14), the monitoring of a position error is resumed (S15). If the position error exceeds a predetermined value (S31), then an alarm is activated (S32). Then, currents supplied to all the servomotors are cut off (S33), thus stopping the operation of the robot in a short period of time.

Abstract: Disclosed is a method of controlling a robot, for restarting the robot by resupplying an electric power in the event of a power failure. When a power failure detection circuit detects that a voltage has dropped or has been cut off, the circuit notifies an operating method (OS) of this (S1) and the OS writes a power failure flag to a non-volatile memory and stops a task being performed (S2). The data of the task being performed is saved in the non-volatile memory. After the electric power has been resupplied (S10), the OS executes a power failure processing for itself, with reference to the power failure flag (S11), initializes hardware (S12), executes a power failure processing routine for each task (S13), and restarts the operation of the robot from the position at which the robot was stopped when the power failure occurred (S14).

Abstract: A learning control system for controlling the throttling of an internal combustion engine includes a step motor for operating the throttling lever of a fuel supply device which supplies fuel to the internal combustion engine. Each time the number of steps for driving the step motor is incremented, the rotational speed of the engine is detected and compared with a preset maximum engine rotational speed. When the rotational speed of the engine reaches the preset maximum engine rotational speed, the number of steps is stored as the number of steps for driving the step motor at the time the accelerator pedal is fully depressed.

Abstract: A pilot release for a press feeder has a spring-loaded support for one of two pinch rollers through which stock material is fed. A cam follower attached to the support engages a cam which is driven by a servo motor. During operation of the press, a position sensor on the press outputs a signal indicative of the position of the press crankshaft. The signal is input to a signal processor which includes a motor control circuit which drives the servo motor of the press feeder. A position sensor on the servo motor also inputs a signal to the signal processor which compares the position of the press to the position of the servo motor, and drives the servo motor to synchronize the motor to the press. The synchronization is such that as pilot pins of the press contact the stock material in the press, an eccentricity of the cam engages the cam follower.

Abstract: An abnormal state detecting apparatus of a machine tool having a servomotor. The apparatus is provided with a device for detecting an abnormal acceleration and an abnormal torque of the servomotor and a device for detecting an abnormal operation state of the servomotor from the directions of the detected acceleration and torque. When the torque, acceleration and operation state are all abnormal, the machine tool is judged to be in an abnormal state and the servomotor is controlled, thereby protecting the machine tool from an impact in an abnormal operation state.

Abstract: A vehicle turning behavior control system is mounted in an automotive vehicle having an anti-skid braking system. The control system has an electronic control unit to which a signal representative of a vehicle turning condition is input. The control unit is arranged to establish a difference between braking forces applied respectively to inside and outside wheels (with respect to a vehicle turning direction) in accordance with the turning condition representative signal so as to develop a yaw moment between the inside and outside wheels to promote a turning of the vehicle. The control unit also functions to control the braking force applied to the outside wheel in accordance with the braking force applied to the inside wheel by the anti-skid system in a manner such that the former braking force changes in a similar pattern to the latter braking force.

Abstract: A system is provided for carrying out a reference point return in a numerical control device. A deceleration dog (31) is arranged at a machine table (1) and includes a reference point (4). A deceleration limit switch (2) is operated when in contact with the deceleration dog (31), to generate a first deceleration signal (DEC1). A portion of the deceleration dog (31) from an end thereof with which the deceleration limit switch (2) first comes into contact to a predetermined distance therefrom is used as a hypothetical dog. A deceleration signal generating means generates a second deceleration signal (DEC1) when the deceleration limit switch (2) is in contact with the hypothetical dog. A reference point return processing means carries out a reference point return based on the first and second deceleration signals (DEC1, DEC2). Accordingly, an adjustment of the deceleration dog becomes unnecessary, and the assembling and maintenance are made easy.

Abstract: An electro-hydraulic servo mechanism comprising: a hydraulic actuator formed with a pair of hydraulic chambers and having an output member which is displaced by a differential pressure between the hydraulic chambers, the output member being connected with an object to be controlled; an electro-hydraulic converter for varying the differential pressure between the hydraulic chambers in response to an electric signal; a first differential transformer for outputting a first induced electromotive force proportional to the displacement of the output member; a control circuit for generating the electric signal in response to the output of the first differential transformer and to an external command signal and for outputting the electric signal to the electro-hydraulic converter; a pressure receiving member that is displaced in response to the differential pressure between the hydraulic chambers; and a second differential transformer for outputting a second induced electromotive force proportional to the displacemen

Abstract: An automatic operation recovery system for automatically removing an operational failure caused in an apparatus whose complete operation is controlled by actuators operated in a predetermined sequence, thereby recovering the apparatus to its normal operating condition, comprises an actuator driver for controllably driving the actuators in a sequence suitable for a type of operational failure so as to remove the operational failure, a memory for accumulatively storing data of a type of operational failure and a sequence taken to remove the type of operational failure through the actuator driver and an automatic recovery controller for, when an operational failure is detected, assigning an order of priority to sequences available for removing the same type of operational failure accumulatively stored in the memory and automatically actuating the actuator driver to operate the actuators in a sequence assigned the first order of priority.

Abstract: A linear variable displacement transducer (LVDT) has a core connected to an actuator such as a torque motor. The outputs of the LVDT are demodulated and subtracted to provide a displacement signal which is compared with a desired displacement to provide closed loop control of the torque motor. The desired displacement is formed by multiplying a demand signal by the sum of the demodulated LVDT outputs so as to provide temperature compensation.

Abstract: A stability compensating circuit of a servomechanism wherein the output displacement of an actuator is controlled, comprising: a unit generating a reference input signal corresponding to a target value; a first adder which is provided in a first line between the reference input signal generating unit and the actuator and to which a feedback signal from the actuator is inputted through a second line between the first adder and the actuator; a second adder provided in the first line between the first adder and the actuator; a first compensating circuit provided in the first line between the first and second adders; and a second compensating circuit provided in a third line between the second adder and the actuator, the feedback signal from the actuator being inputted to the second adder through the second compensating circuit.

Abstract: An ultra-precise positioning system includes a movable part, a rolling guide, a fixed part in supporting contact with the rolling guide, and a driving device for driving the movable part. The driving device includes a non-contact motor which applies a force to the movable part without touching engagement with the movable part.

Abstract: A nominal value is supplied both to a control in a first channel and to a regulator in a second channel parallel to the first channel. The control signal and the regulation signal are transmitted to an apparatus to be regulated. The regulation signal is monitored by a regulator monitoring unit, which generates a shutdown signal when a certain regulation signal level is exceeded and thereby controls or regulates the apparatus into a safe state of operation. In order to effect the regulation, an apparatus output quality is detected by a sensor and the output signal from the sensor is substracted from the nominal value at the input of the second channel. Due to the installation of a control in the first channel, only a single sensor is required for secure two-channel regulation.

Abstract: The device is intended to be used for recording the position reached by a moving part, such as the arm of an industrial robot moved by a rotary motor (M). The device comprises, in an assembly capable of being associated with the said moving part, an angular-position transducer such as a resolver (2), capable of generating at least one signal (4, 5) indicating the position reached by the motor (M) during a rotation, counting means (12) connected to the angular-position transducer (2), capable of storing a cumulative count of the signal generated by the transducer (2) itself and indicating the position reached by the moving part, and power supply means such as a buffer battery (18) capable of keeping the position transducer (2) and the counting means (12) active even when there is no external power supply.

Abstract: A servo control apparatus comprising: a unit for generating a required position value; an actuator adapted to drive a load and having its maximum displacement in one direction and its minimum displacement in the other direction; a drive unit for driving the actuator; a position detecting unit for detecting a displacement of the actuator; and a control unit for correcting the required position value on basis of the maximum and minimum displacements of the actuator and for computing a deviation between an output of the position detecting unit and the corrected required position value; the load being controlled by the deviation.

Abstract: An operation control device for a construction machine is constructed of a remote control valve having a member moveable in proportion to an operating lever stroke and having a plurality of devices engaged with the member and operable in association therewith. A part of the plural devices include a proportional hydraulic signal generator for reducing a hydraulic pressure from a hydraulic pressure source in proportion to a moving quantity of the member and generating a signal as a pilot pressure, and a part or the other of the plural devices including a proportional electric signal generator for generating an electric signal proportional to the moving quantity of the member.

Abstract: A numerically controlled apparatus wherein a tool can be returned by a high speed retrograding operation without damaging a chip of a tool or a work. The numerically controlled apparatus comprises a command executing block which decodes a working program for each of block commands and controls controlling driving of a tool to work a work. A retrograde command storage block extracts data necessary for the production of a retrograde block command from the working program and stores the extracted data therein. Upon reception of a retrograding signal, an escapement command producing block produces an escapement block command, and a retrograde block command producing means produces a retrograde block command. Then, an escapement/retrograde command execution controlling block causes the command executing block to execute the escapement block command and the retrograde block command.

Abstract: A motor drive method is provided which is capable of preventing suspension of operation of an industrial robot, and preventing deviation of the track of movement from a command track, attributable to an overload state of a motor. Output torque command values for motors for various axes of the robot are detected (S1). When any one of the detected values exceeds a predetermined value, which is determined in accordance with the maximum output torque of each corresponding one of the motors for the various axes, an amount of move command per unit time, for every one of the axes, is reduced. The amount of move command per unit time is reduced by using the torque command values thus increased, the product of an override value and a coefficient obtained in accordance with the differential of the torque command values (S3, S6 and S14), whereby the overload state of the motor is prevented.

Abstract: In an industrial robot employing electric motors (Mz, M.theta., Mu, Mw) as drive sources for driving functional robot units for movement respectively about articulatory axes (Z, .theta., U, W), electric drive currents supplied to the electric motors (Mz, M.theta., Mu, Mw) associated with the articulatory axes (Z, .theta., U, W) are detected by a current detecting unit (30), the detected electric drive current supplied to the electric motor (Mz, M.theta., Mu, Mw) associated with one selected articulatory axis among the articulatory axes (Z, .theta., U, W) is sampled every predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of the functional robot units respectively about the articulatory axes (Z, .theta., W), computing means (CPU) calculates the ratio of the root-mean-square value of the electric current supplied to the electric motor (Mz, M.theta.

Abstract: In a servo control apparatus wherein a load is controlled by a deviation between a command signal corresponding to a target value and a detected position signal of an actuator of a servo system and which has a plurality of the servo systems arranged in parallel with respect to the load, the servo control apparatus comprising: a forward circuit for producing a signal that changes in response to an external force exerted on the actuator; first feedback circuit for detecting the signal of the forward circuit and feeding the same back to the command signal; and second feedback circuit for feeding the detected position signal of the actuator back to the command signal, producing a deviation signal representative of a deviation between the position signal and the command signal, integrating the deviation signal, and inputting the integrated signal to the forward circuit.

Abstract: A multiple-articulated robot control apparatus eliminates robot arm vibration by feedback-compensating disturbance due to interference torque when the robot arms are driven. The apparatus includes an arithmetic circuit (8) for computing mutual interference torque values for respective ones of the arms, a status observing circuit (2) for reproducing a status variable from a torque command and actual velocity of each servomotor, a conversion circuit (4) for converting an output of the status observing means into a corrective value of torque produced by disturbance acting upon the servomotor, and a correcting circuit (9) for correcting an error signal of the torque command of the servomotor by the converted corrective value and the interference torque value. Disturbance of each arm with regard to driving torque is eliminated. The apparatus is adapted to correct estimated disturbance torque.

Abstract: A track-seeking system for an optical disk using a velocity control loop with partially-digitized velocity measurement. A quadrature signal is generated based on summing the halves of a position error signal to give directionality to track-crossing counts. A so-called piggy-back construction, wherein a fine positioner is carried by a coarse positioner, is employed. Feed-forward controls are provided from the fine to the coarse positioner. At track-capture time, the dynamic range of the fine positioner is momentarily increased.

Abstract: An apparatus for detecting and analyzing a fault condition occurring in an engine electrical generator set (21) while providing means for inhibiting the engine electrical generator set (21) upon the occurrence of the fault. The apparatus utilizes a run relay (22) connected in series with single contact fault senders (26) to a reference potential. The single contact fault senders (26) monitor various parameters of the engine electrical generator set (21). When a parameter is exceeded, the single contact fault sender (26) opens, de-energizing run relay (22) thereby inhibiting engine electrical generator set (21). Optical isolators (27) monitor the single contact fault senders (26) and provide information on their status to logic determining means (24) to alert an operator of an exceeded parameter. Also provided is a bypass switch (31) to bypass single contact fault senders (26).

Abstract: A servo circuit with a failure detection mechanism comprising: a servo circuit for servo controlling on the basis of a control signal an actuator which is connected through a hydraulic circuit with a source of oil pressure and is operated by the hydraulic circuit which is changed over by a servo valve; a monitor circuit arranged in parallel relationship with the servo circuit and generating a monitor control signal; and a failure detection circuit in which the control signal of the servo circuit and the monitor control signal of the monitor circuit are inputted and which detects a failure of the servo circuit on the basis of the control signal and the monitor control signal; wherein the hydraulic circuit is provided with pressure detecting means for detecting a pressure thereof; and the monitor circuit includes a correction circuit in which a pressure signal from the pressure detecting means is inputted and which corrects a loop gain of the monitor circuit in correspondence with a value of the pressure signal

Abstract: A digital control for a multiaxis robot includes position, velocity and torque controls that drive a motor voltage control loop. Pulse width modulated control signals operate power switches in a power bridge to control the current to each robot joint motor. A single resistor is connected in the bridge circuit to supply motor current feedback needed for control loop operation.

Abstract: A pulse width moduation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor independent of the number of legs in a power amplifier configuration. This scheme permits commercially available, low cost, power blocks to be used for implementation of robot control system power amplifiers.The PWM scheme is cost effectively implemented in a semi-custom large scale integrated (LSI) circuit which provides the digital interface between a torque loop microprocessor and the drive circuitry for the power handling devices used to apply voltage to the robot axis actuator. Interface and control for three axes is provided by a single LSI device.

Abstract: The control loop instability detection and correction apparatus monitors an error signal produced by a control system to detect any instability in the control loop before the instability significantly affects the performance of the controlled apparatus. This is accomplished by monitoring the error signal to detect a change in the error signal greater than a predetermined limit and to tabulate the number of times the change in the error signal is in excess of the predetermined limit over a fixed period of time. Whenever the change in the error signal is in excess of the predetermined limit, it is reduced in magnitude to a predetermined value and this resultant signal is applied to the controlled apparatus in place of the originally generated error signal. In addition during each sampling time interval, the result of this comparison is used to increment or decrement a counter.

Abstract: A closed loop motor system having a motor with a plurality of poles and motor windings associated therewith. The poles define full step motor output positions. The system is of the type that assigns intermediated current values to the motor windings for fine step positions of the motor. The system also comprises a motor output position encoder for generating an integral and fixed number of encoder pulses as the motor moves between any two motor poles. The pulses are equally spaced and at least some corresponding to the fine step positions. An initializing current comprising components for applying full step current values to motor windings for a time interval in which the motor output is assumed to align with a full step position, and components for zeroing the count in the counter and assigning the torque angle value, whereby the encoder does not require alignment relative to the motor.

Abstract: To prevent spurious operation of a controlled operating element (12), typically a safety element which can be irreversibly triggered, such as a trigger or firing cartridge of a passenger restraint airbag, while providing for reliable operation in case of a crash of a vehicle in which the airbag is installed, a control signal is derived from a computer (10) processing input signals. The transmission of the control signals from the computer (10) to the operating element (12) is through a time delay stage (30) which has a time delay of sufficient length to permit the computer to correct, if necessary, signals from its output (16) and to carry out tests on the output signals from the computer apparatus. An evaluation circuit (18) continuously compares the output signals with check values. The check values may be derived from, for example a second computer similar to the computer, or from stored representative values.

Abstract: A diagnostic apparatus which diagnoses a failure of the machine by comparing a relation between the displacement amount of a varible for making the variable coincide with a target value while the machine is normally operated and the response time required thereof with that while the machine is actually operated. Accordingly the apparatus can diagnose the failure based on transient response while the machine is actually operated, so that early detection of the failure is possible without additional measures.

Abstract: An electric system for controlling a depth aerodynamic surface (1) of an aircraft. The system includes an attitude sensor (3) and an incidence sensor (6). A calculation means (7) in communication with the sensor controls a motor (4) so as the depth aerodynamic surface of the aircraft reaches an incidence according to a programmed depth control law. The system utilizes an incidence protection device (35) able to control the incidence of the aircraft within a range of values limited upwards by a limit value, beyond which the aircraft could become unstable.

Abstract: An electronic tractor hitch control system in which the position of an implement hitch relative to a tractor can be set using a main control operable by a tractor operator from his normal location on the tractor and can also be set using a secondary control located at a location remote from the normal operator's location, such as on the rear of the tractor fenders. The system is arranged so that any implement position signal set using the secondary control is opposed by a smaller hitch positioning signal generated within the system so that the speed of movement of the hitch in response to hitch positions set using the secondary control is moderated. The system also includes circuitry for detecting short circuits in parts of the system located in vulnerable locations.

Abstract: A plurality of individual frames or stampings provided in a sheet strip material by a stamping device are passed in proximity to a sensing device. As each individual frame or stamping is passed in proximity to the sensing device, the sensing device provides a voltage signal to a controller. The voltage signal is proportional to the amount of, or mass of, metallic material in each frame or stamping and the distance between the frame or stamping and the sensing device. The controller generates an individual waveform from the voltage signal for each frame passed in proximity to the sensing device. Each individual waveform is a function of the position of the movable portion of the stamping device for one cycle. As the plurality of individual frames are passed in proximity to the sensing device, a plurality of individual waveforms are generated within the controller. The waveforms are compared within the controller to detect a deviation between waveforms.

Abstract: A control system for an angiographic injector which precisely regulates the speed of a motor used to expel contrast media from a syringe. The control system is centered around a microprocessor which receives commands from the operator via a keyboard, and then regulates the speed of the motor by supplying drive command pulses to a circuit which integrates the difference in frequency between the command pulses and another pulse train whose frequency is proportional to actual motor speed. The control system also includes a velocity loop which uses the motor back EMF to supply an analog voltage also proportional to motor speed to a difference amplifier in a conventional velocity loop. The system is a dual loop controller where the second loop provides approximate speed control, while the first loop provides a "velocity correction" voltage required to bring the system to zero steady state speed error.

Abstract: A magnetic disk drive in which a magnetic head contacts to a landing zone on a magnetic disk when the rotation of the magnetic disk is stopped. The magnetic disk drive is characterized by the provision of abnormality detection means for detecting that the drive is in abnormal condition, position detection means for detecting whether or not the magnetic head has moved to the landing zone or not, control means for outputting a first instruction signal when the abnormal condition is detected by the abnormality detection means and for outputting a second instruction signal when it is detected by the position detection means that the magnetic head has not yet moved to the landing zone, and drive means for driving the magnetic head by a first drive force when said first instruction signal is inputted and for driving the magnetic head by a second drive force greater than the first drive force when said second instruction signal is inputted, whereby the magnetic head is moved to the landing zone.

Abstract: A digital robot control includes a position/velocity microprocessor control and a torque microprocessor control for each of multiple robot axes. Digital position, velocity and motor current feedback signals are generated from motor sensor signals for use in making microprocessor control calculations. A backup velocity determination is made for each joint motor by the torque microprocessor from the motor current feedback, the motor command terminal voltage and the motor resistance and inductance. The robot is shut down if the difference between the feedback and backup velocity values exceeds a predetermined limit.

Abstract: In a position control apparatus for a table of a machine tool, for example, wherein the position of the table is detected by a position detector and a difference between a detected position and an instructed position is used to control the speed of a driving motor of the table, the position detector is constructed as an absolute type. Further, there is provided an error correcting device producing a correction value corresponding to an instructed position or a detected position. During starting, the correction value is added to the absolute value and the sum is used to update an instructed position register.

Abstract: An electrical power interrupting tether system for a multiple-joint, anthropomorphic robot arm that substantially improves robot arm operational safety. The tether system includes a robot arm and auxiliary equipment power-interrupting electrical robot arm member by a set of braided steel wires. A pair of conventional robot arm and auxiliary equipment power-interrupting limit switches actuated by excessive rotational robot arm movement are also provided. Movement of the robot arm beyond a predetermined safety zone defined by each arm-member-tethering wire and the limit switch pair will cause electrical power interruption to both the robot arm and to auxiliary equipment associated therewith to thereby preclude potentially unsafe movement of the robot arm beyond the above-defined safety zone.

Abstract: Disclosed is a control method in which control errors, attributable to a change of the state of a transmission mechanism, disposed between a servomotor and a load driven thereby, are reduced in controlling a driving force to be applied to the load.A detected value (PH) of the driving force applied actually to the load is compared with a set value (PL') of the force to be applied to the load. The driving current of the servomotor is controlled in accordance with the result of such comparison. Thereupon, a change of the correlation between the servomotor output and the driving force applied actually to the load, which is attributable to the change of the state of the transmission mechanism, is compensated automatically. Thus, the driving force applied actually to the load is adjusted accurately to the set value.

Abstract: A system which measures direct current drift and noise in sensor signals from redundant sensors utilizing a parity-space algorithm. Parity vector signals produced by the parity-space algorithm are averaged to provide a direct current (DC) drift signal. An instantaneous noise signal is found by subtracting the direct current drift signal from a parity vector signal for one of the samples of the sensor signals. The RMS value of the instantaneous noise signals are averaged to provide sensors noise signals.

Abstract: This invention relates to an automatic universal head for operating a motor on the basis of set information and automatically controlling the controlled mode of the universal head to a state conforming to the set information. In this invention, when the universal head control based on the set information is not executed for some reason or other, the power supply to the motor is automatically inhibited in a predetermined time after the universal head control is started.

Abstract: A machining end detecting device detects whether each hole or the like has completely been drilled to its bottom or not, and the latest drilling information is stored in a nonvolatile memory. In the nonvolatile memory are also stored modal data sequence numbers assigned to drilling start position determining blocks and the latest information on a drilling restart position. Upon inputting a drilling restart command from key input means such as a cycle start button, a restart block indexing device indexes, from a numerical control machining program, a restart block necessary for resuming drilling of an unfinished hole or the like on the basis of the sequence numbers and the machining end detection information stored in the nonvolatile memory. A restart positioning device positions a drilling machine at the drilling start position stored in the nonvolatile memory, and a control device causes the drilling machine to restart with the indexed restart block from the specified position.

Abstract: Electric control apparatus (20) for equipment (1) comprising a driving circuit (5) for generating a signal (S.sub.1) to drive the equipment as installed in a vehicle, the driving circuit including circuitry having a first specified working voltage range, and a breaking circuit (6) operatively interposed between the driving circuit and the equipment, the breaking circuit including a first switching circuit (100) for operatively interrupting the supply of the drive signal to the equipment under a condition that the supply voltage (Vdd) is lowered below a first predetermined level (V.sub.

Abstract: A power antenna control for a motor vehicle comprises a Hall effect device responsive to motor armature rotation to generate pulses for equal predetermined increments of antenna travel. These pulses are applied to both position and stall counters. In extension, the antenna drive is stopped when the position counter reaches a number corresponding to a predetermined extended position, which may be full extension or some lesser extension. In retraction, the stall counter is used with a clock to indicate stall which, when detected, causes the antenna drive to be stopped. Automatic current limiting for drive torque limitation during stall is activated only when the position counter indicates a limited position range near full retraction. Further during retraction, if the antenna is stopped within a small position range of full rectraction, it is reset to a count indicating full retraction. The system eliminates the need for hard stall sensing reaction switches and thus reduces antenna drive cable fatigue.