Abstract: An operation line tracking device for a robot for performing an operation with a tool mounted on the robot while tracking an operation line using a sensor wherein a detection failure of the sensor is restored by automatically changing or resetting a detecting condition of the sensor when the sensor fails in detecting the operation line. If a detection failure occurs for a cause of excessive or too small quantity of light impinged on light receiving elements of a laser sensor, a laser output intensity is automatically changed. If a detection failure occurs for a cause of basing of the quantity of the impinged light, an orientation of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of biasing of position of the operation line in the visual field of the laser sensor, the position of the laser sensor is automatically adjusted.

Abstract: The robot apparatus of the present invention autonomously makes natural motions. The robot apparatus is provided with a control means 32, which has a feeling/instinct model that causes a motion and changes the feeling/instinct model based on input information S1 to S3 thereby to determine a motion. As a result of this, the robot apparatus 1 can autonomously act based on the state of its own feeling/instinct. A robot apparatus which can autonomously make natural motions can thus be realized.

Abstract: A multi-tasking system in which tasks are grouped and the action of the safety function is different for each group so that the control of a machine can safely and easily be performed with one control device and that the monitoring of each device can be performed at all times, and a medium and a processing device in which a program thereof is recorded. A multi-tasking system 100 for controlling a plurality of tasks has a program executing unit 11 for processing a plurality of tasks by the multi-tasking processing and a task table 21 for keeping grouping information set for each of the plurality of tasks, and the program executing unit 11 has stop units (an emergency stop unit 16, a temporary stop unit 17 as the safety function, and the stop unit obtains grouping information from the task table 21 on the basis of a stop instruction and identifies a group of each task, and performs a different control for each group.

Abstract: There is provided an external watchdog timer 30 for detecting a temporary runaway of the microcomputer body 20 and resetting it according to a pulse output of the microcomputer body 20. Further, an internal watchdog timer 70 operated independently from a control section of CPU of the microcomputer body 20 is incorporated as a program. When a pulse signal is not outputted from the microcomputer body 20 exceeding a predetermined period of time, the external watchdog timer 30 is disabled, and impedance of the output terminal 32 is made high and the backup circuit 60 is set in an operating condition, so that the windowpane can be opened and closed by a manual operation switch 11.

Abstract: A method and circuit for controlling a controlled variable by a closed-loop control circuit comprising at least two controllers and a control device with a reference stage and a controlled system generating the controlled variable. The reference stage is supplied with a reference variable, which determines the set point of the controlled variable, the maximum value of which is predefined as a function of the control limits of the control device formed as the sum of the control limits of the controllers of the control device. A first controller of the control device is provided with a control deviation, which is formed as the difference between the reference variable and the actual value of the controlled variable. The other controllers of the control device are provided with a control deviation, which is formed, respectively, as the difference between the control deviation of the respective preceding controller and the actual value of the controlled variable of the additional controller.

Abstract: A mold protection device for an injection molding machine capable of automatically setting a reference value for detecting an abnormal load exerted on a mold in a mold closing process. A load exerted on a servomotor for driving a mold clamping mechanism is estimated by a disturbance estimating observer provided in a control system of the servomotor. The estimated disturbance torque is sampled at every predetermined period in a mold protection region and cyclically stored in a table TA as data DA (0, 0) to (i, j) in mold closing processes of the number (i+1). A predetermined amount is added to an average value of data DA (0, n) to (i, n) to define an upper limit DC(n) for the disturbance torque and stored in the table TC. If the estimated disturbance torque at each sampling period exceeds the upper limit DC(n) of in the mold protection region in a present mold closing process, an alarm is issued to indicate abnormal load.

Abstract: Disclosed is an improved system and method for sensing both hard and soft obstructions for a movable panel such as a sunroof. A dual detection scheme is employing that includes an optical sensing as the primary means and electronic sensing of motor current as a secondary means. The secondary means utilizes system empirical precharacterization, fast processing algorithms, motor parameter monitoring including both current sensing and sensorless electronic motor current commutation pulse sensing, and controller memory, to adaptively modify electronic obstacle detection thresholds in real time without the use of templates and cycle averaging techniques.

Abstract: The present invention relates to fault detection in a large population of motors of a common motor type. Initially, a plurality of motors of a common motor type is tested to obtain a first residual based on selected measured operating parameters. A second residual is then developed for each individual motor comprising the plurality of motors. If the difference between the first and second residuals exceeds a selected threshold, the motor generating the second residual is defective and removed from the plurality of motors and the threshold is adjusted to reflect the removal of the defective motor from the plurality of motors. The first residual may be used to monitor the operation of motors not included in the original plurality of motors to detect impending failure.

Abstract: An apparatus for the control of a machine tool includes, for the processing of a workpiece, several separate processing units that can execute definite tasks simultaneously and independently of one another. Furthermore, a display unit, as well as at least one assigned input unit, is provided. On the display unit side at least one display window, which can be activated selectively and in which corresponding information can be presented visually, is assigned to each processing unit. The display window active at the moment is thus shown uncovered and/or marked for emphasis.

Abstract: Master and slave servo control circuits 2a and 2b are configured with servo controllers 3a, 3b, servo amplifiers 4a, 4b, servo motors 5a, 5b, feedback detectors 6a, 6b and error detectors 7a, 7b, and the servo motors 5a, 5b are mechanically interlocked and connected to a load. At a location upstream from the servo amplifier 4b, a torque command value selector 21 is provided; when the error detector 7a does not detect an error in the servo control circuit 2a, the selector switches so that the servo amplifier 4a and the servo amplifier 4b both receive a torque command value from the servo controller 3a, and when the error detecter 7a detects an error in the servo control circuit 2a, the selector switches so that the servo amplifier 4b receives a torque command value from the servo controller 3b.

Abstract: A device for acquiring operating parameters on electric motors with an arrangement that is influenced by an effect of at least one operating parameter of an electric motor. The arrangement is designed to store and display the effect. To obtain reliable information regarding the recyclability of the electric motor, the operating time and/or the number of motor starts can be detected by an electronic circuit and stored in a memory from which respective data can be read out and analyzed at a proper time.

Abstract: Apparatus and method for reducing fan noise in a personal computer having at least one fan with a direct current motor. The fan is disposed within and ventilates a zone. Operative voltage is applied to the motor through a controller from a power supply. Thermo-sensors in the zone measure the temperature in the zone. A table coupled to the controller lists for each temperature value an optimum rotational rate for the fan, the optimal value being the minimal value of rotation rate for the fan to provide a sufficient ventilating of the zone at this corresponding temperature. The thermo-sensor when actual temperature in the zone is changed during operation, inputs this condition to the controller, which modifies the voltage, applied to the motor, to provide the assigned optimal rotation rate.

Abstract: The present invention provides a processing machine having the function of sensitively detect collisions or other abnormalities to prevent the machine from being operated under abnormal conditions. Means 22 is provided for detecting a load on a drive source 1 for driving a movable member 2. Abnormality determining means 23 is provided for determining the load is abnormal if the lead as detected by the abnormality means 22 exceeds an abnormality determination level (Lb). The abnormality determining means 23 sets the abnormality determination level (Lb) on the basis of the load as measured during the preceding driving operation of the movable member 2 or the average of loads as measured during several past driving operations that are temporally close to the current one.

Abstract: A motor rotation control device for an optical disk player including a motor outputting rotation signals, a sensor for sensing the rotational direction and rotational state of the motor in response to rotation signals of the motor, a motor control signal generator for generating a motor control signal according to the rotational direction and rotational state of the motor, and a motor rotation controller for controlling the rotation of the motor in response to the motor control signal. The motor rotation control device operates independently of a system controller, thereby reducing the load on the system controller.

Abstract: An integrated control and diagnostics system for a controlled system (e.g., a motor) includes a diagnostics module and a controller coupled to the motor. To optimize operation, the diagnostics information signal is used to modify the control provided by the controller as required. Moreover, the output of the control module is coupled to the diagnostics module so that the health assessment made by the diagnostics module can be based at least in part on the output of the controller. The invention uses a model-based diagnostics approach that allows integration of control algorithms with diagnostics algorithms to intelligently trade off optimizing performance to avert or accommodate failures, and to meet performance requirements in a wide range of applications.

Abstract: A movable barrier operator having improved safety and energy efficiency features automatically detects line voltage frequency and uses that information to set a worklight shut-off time. The operator automatically detects the type of door (single panel or segmented) and uses that information to set a maximum speed of door travel. The operator moves the door with a linearly variable speed from start of travel to stop for smooth and quiet performance. The operator provides for full door closure by driving the door into the floor when the DOWN limit is reached and no auto-reverse condition has been detected. The operator provides for user selection of a minimum stop speed for easy starting and stopping of sticky or binding doors.

Abstract: An apparatus for precisely controlling the feed rate of a feeder comprises: a motor operatively connected to the feeder to cause dispensing of the feeder when the motor is driven; a control circuit for supplying, when actuated, an AC voltage supply to the motor for driving of the motor; a counter disposed in communication with the control circuit for actuation thereof when an overflow signal is generated by the counter; a latch controller disposed in communication with the counter for enablement and disablement of the counter, the latch controller disabling the counter when the overflow signal is generated by the counter; a detector connected to the AC voltage supply for detecting when the AC voltage crosses over a median voltage thereof, the detector further disposed in communication with the latch controller for enablement of the counter when the median voltage is detected; and a fuzzy logic controller disposed in communication with the counter for generating an output to the counter that loads a determined

Abstract: An integrated motor monitoring system collects, analyzes, and stores to database(s) on-line and off-line coordinated real-time motor data for industrial AC and DC motors. On-line coordinated real-time motor data from both on-motor sensors and remote sensors at a motor control center are collected simultaneously and processed. Off-line measurements are performed with integrated stimulus and measurement apparatus. Monitoring units at the motor and motor control center each collect specific data on the motor. The database provides current and historical data on the motor for analyses conducted at the motor or at the motor control center. Additionally the motor monitoring system has the capability of relating motor system or process events with motor performance.

Abstract: A control device, disposed in or on a vehicle seat, which has a pickup for detecting seat occupation, a pickup for detecting a position of the vehicle seat, a common control circuit, and an energy supply for the control circuit. The pickup for detecting seat occupation and the pickup for detecting the position of the vehicle seat are connected electrically conductively with the common control circuit.

Abstract: A movable barrier operator having improved safety and energy efficiency features automatically detects line voltage frequency and uses that information to set a worklight shut-off time. The operator automatically detects the type of door (single panel or segmented) and uses that information to set a maximum speed of door travel. The operator moves the door with a linearly variable speed from start of travel to stop for smooth and quiet performance. The operator provides for full door closure by driving the door into the floor when the DOWN limit is reached and no auto-reverse condition has been detected. The operator provides for user selection of a minimum stop speed for easy starting and stopping of sticky or binding doors.

Abstract: A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (&psgr;ref, {dot over (&psgr;)}ref, {umlaut over (&psgr;)}ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;mr) is generated by the servo in dependence on the control error torque (&tgr;err) of the servo.

Abstract: An apparatus is automatically conveying cartridges reliably and correctly without causing errors, making it possible to enhance the operation efficiency and performance of the apparatus. The apparatus is automatically conveying cartridges disposed adjacent to a recording/reproducing apparatus, and is comprised of a cell mechanism having racks, an accessor mechanism having an accessor, and a conveyance control unit for controlling the conveyance of the cartridges by controlling the accessor mechanism, wherein the accessor is provided with catcher hands, a catcher hand drive mechanism, an open detector mechanism for detecting the open state of said catcher hands, and a closed detector mechanism for detecting the closed state of said catcher hand.

Abstract: A controller for an industrial machine capable of monitoring a receiving circuit for receiving position information. A receiving circuit and an additional receiving circuit receive the same position information from a detector, and a monitoring circuit monitors a receiving state of the receiving circuit using position information received by the additional receiving circuit. A plurality of receiving circuits may be provided for respectively receiving different position information, and a plurality of additional receiving circuits and a plurality of monitoring circuits may be provided in a manner such that each additional receiving circuit and each monitoring circuit is associated with each receiving circuit. A single additional receiving circuit and a single monitoring circuit may be common to a plurality of receiving circuits.

Abstract: The method for determining the rotational speed and/or the angle of rotation of mechanically commutated d.c. motors from the variation with respect to time of the ripple of the motor current occurring during commutation is supplemented and checked by a motor state model that functions in parallel to it and is based on the electromechanical motor equations. A probable value of the actual speed is extrapolated from the motor current and the motor voltage and a permissible reference time range is determined for the next commutation. If no commutation time can be established in the reference time range, the extrapolated value is used. Otherwise, the current speed is determined precisely from the commutation time measured in the reference time range. The load-dependent motor constant for the motor state model can be preset as a fixed value or it can be adjusted to the actual speed after commutation processes have been detected.

Abstract: In a semiconductor integrated circuit device, after electric power starts being supplied thereto, when a control circuit 2 is turned on, a test signal is fed in via a clock output terminal 6. At this time, an on/off control signal is at a low level, which causes a controller 14 to feed a low-level signal through a buffer 17 to the gate terminal G of a latch circuit 15, and thus the test signal fed through a buffer 9 to the input terminal D of the latch circuit 15 is fed from the output terminal Q thereof to the controller 14. Having received the test signal, the controller 14 recognizes establishment of a test mode and turns the on/off control signal to a high level. This causes the latch circuit 15 to stop operating, and thus the controller 14 feeds a clock through an AND circuit 16 and a buffer 8 to a clock output terminal 6 for external output.

Abstract: A simplified fault logic accomodation control which utilizes fuzzy logic to assist in calculating a preselected weighted average of the values of two redundant sensors that are sensing the same parameter. A synthesized, third, predicted value of the parameter is used in the fuzzy logic to arbitrate between the two sensed values.

Abstract: The variable frequency drive of a motor monitors pulse generator feedback while the motor is stopped and an electromechanical brake is set. When the pulse generator feedback exceeds a predetermined level indicative of brake failure, tie controller actuates the motor to operate in zero servo mode and maintain the load. An alarm is also sounded, allowing an operator to safely lower the load.

Abstract: A programmable apparatus is used to determine the running speed of an ac induction motor based on vibration and flux measurements. A first analysis is performed on at least one of the vibration and flux signals according to a first criterion to determine candidate speeds and whether speed will be determined based on the first analysis or whether a second analysis is required. A second analysis is selectively performed if required by the first analysis. In the first analysis, vibration signals (for example) are transformed to the frequency domain, such as by Fast Fourier Transform, and vibration amplitude peaks contained in the resulting spectrum are analyzed to identify candidate peaks. If only one candidate peak is identified, the frequency at which the candidate peak occurs is used to determine motor running speed. If two or more candidate peaks are identified and the motor is a two-pole motor, the candidate peak having the maximum amplitude is used to determine running speed.

Abstract: A semiconductor integrated circuit device for use in a disk drive apparatus has a stepping motor driver for feeding an electric current to a stepping motor, a temperature monitoring circuit for monitoring the temperature due to the heat generated by the stepping motor driver, a signal processing circuit for processing an analog signal communicated to write or read data to or from a magnetic data recording medium, and a controller for controlling the stepping motor driver and the signal processing circuit. The signal processing circuit is arranged between the stepping motor driver and the temperature monitoring circuit. This minimizes the variation of the ground level of the temperature monitoring circuit that occurs every time the stepping motor driver is turned on or off and thereby makes accurate monitoring of the temperature possible.

Abstract: A control unit for a rotary T.V. antenna which is responsive to a signal representative of a selected T.V. channel to produce a power output adapted to rotate the antenna to a predetermined appropriate position for receiving the selected T.V. channel such control unit can be responsive to the signal from a remote control T.V. channel selector.

Abstract: A multiplexing decoder/counter circuit for monitoring quadrature position encoders. The system includes an edge detector, a position counter, a position latch, a capture latch, and compare management means. Addressable memory blocks are used throughout the design. Information from external differential receivers is directed into a single quadrature decoder circuit using a switch with an effective 16 to 1 selection. An axis scanning state machine addresses multiple memory block based functions simultaneously. Scanning is performed in a circuitous manner in conjunction with the switch. The total circular loop frequency for the sequence is chosen to be equal to or greater than the maximum encoder frequency required. At each visitation of any particular memory address, the state of the circuit is reestablished from the last visit by the scanning state machine. Any change in quadrature signals is noted, and any up or down count is accumulated to the position counter.

Abstract: An encoder disc (101) of an optical position transducer is mounted on a short protruding part (102a) of a rotor (102) of an electric motor close to torque creating parts. One part of the optical system, normally the light emitter part (108, 115), is insertable between the rotor (102) and the encoder disc (108) after the insertion of the rotor-encoder disc assembly into the motor stator case (113). The optical incremental encoder signals are fed both to a moderate frequency digital counter that counts (4) counts per basic encoder period and to an AD converter that samples and digitises the primary encoder analog signals. A synchronising network ensures that the primary encoder digitised signal corresponds to the correct state of the digital counter. More than one decoder head can be used to compensate for the bearing play common in servo motors having varying axial loads.

Abstract: In a control device for quick angle adjustment of a rearview mirror for a vehicle of the present invention, a reversible switch is connected in the forward direction only when an operational switch for quick angle adjustment is operated after a shift lever is displaced to a reverse gear position. This rotates a quick angle adjusting motor to tilt a mirror angle of the mirror assembly to a reverse position. The mirror angle does not change automatically to the reverse position when the reverse gear is selected merely to reverse a vehicle. Accordingly, change of the mirror angle against the driver's intention can be avoided. When a tilt angle of the mirror is at the reverse position, the reversible switch can be connected in the reverse direction by means of displacing the shift lever from the reverse gear position to any other position or by means of turning OFF the operational switch for quick angle adjustment, which enables the mirror to return to its normal position easily, positively and radically.

Abstract: A method and apparatus for detecting an aberrant velocity of a motor used to drive an element in a plastics processing machine, such as an injection molding machine, for example. The velocity of the motor is detected by a first sensor and a machine parameter associated with the machine operation is provided. A velocity limit is determined based upon the machine parameter and an error signal is generated when the motor velocity exceeds the velocity limit by more than a predetermined tolerance value. Preferably, the machine parameter comprises the position of the element driven by the motor, which is sensed by a sensor, such as a linear displacement transducer. The velocity limit can be based upon this measured element position as well as data entered for the particular machine, such as a minimum element position, a maximum element position, and a maximum motor velocity, such that a desired motor operating envelope is defined.

Abstract: A vehicle sliding door opening/closing control device includes a trouble detecting circuit for detecting a trouble in a control unit which is used for controlling operation of a motor to drive a vehicle sliding door in opening and closing direction, and switching unit responsive to detection of a trouble in the control unit by the trouble detecting circuit for shorting power input terminals of the motor, and after the lapse of a predetermined time, opening the power input terminals of the motor. Upon detection of the trouble in the control unit, the power input terminals of the motor are shorted so that the motor is kept in a locked state. In this instance, if the sliding door is moving at a high speed, it is possible to apply braking to the sliding door. Thereafter, after the lapse of the predetermined time, the switching unit opens the power input terminals of the motor to release a lock on the motor, thereby allowing the sliding door to be displaced by manual.

Abstract: The present invention embodies a safety interlock system and method for automatically disabling operation of a robot or other machine with standard mechanical interfaces (SMIF) apparatus if the components are not in proper operating positions when the machine is started. In a preferred embodiment the safety interlock is incorporated in a robotic machine for processing semiconductor wafers and the system uses three conventional sensors for detecting whether the transfer robot is in the out position or not, whether the cassette elevator is "home" or not, and whether the cassette gripper on the transfer robot is open or closed. A logic circuit has the outputs of the robot "out" sensor and the cassette elevator "home" sensor input to a NAND gate, the output of which is input to an OR gate along with the output of the "open" sensor of the SMIF robot arm gripper. An appropriate output from the OR gate lights an LED setting off an audible alarm and opening a breaker that automatically disables the SMIF robot motor.

Abstract: A fluid operated machine is monitored and regulated by providing a logic with a memory for storing the timings of properly operating functions, and detectors the outputs of which are used to calculate the actual operating timings of the functions. The actual operating timings are compared to the timings in the memory, and if they deviate beyond acceptable tolerances a warning signal is given. In addition to monitoring the timings, the device will also open or close control flow valves to bring the operating speeds of functions within acceptable tolerances.

Abstract: A gear-cutting machine contains one driving motor (28) with a corresponding actuator (26a, 26c . . . ) for each of various adjusting axes (B, C, X, Z . . . ). The actuators are supplied from a common dc intermediate circuit (24) and controlled by a controller (30). The dc intermediate circuit (24) is supplied by a rectifier circuit (22) from the network (20). For defined stopping of at least some of the driving motors (28) of the adjusting axes an emergency power supply is provided. The emergency power supply contains an ac motor (34) with a disk flywheel (36) mounted on the output shaft (38) thereof. In generating service of the ac motor (34) the latter provides direct-voltage energy to the ac intermediate circuit (34) via the actuator/rectifier (40). This energy suffices for at least some of the driving motors (28) to be brought into a state of rest by their corresponding actuators in controlled fashion. This avoids errors when operation of the machine is continued.

Abstract: An ac machine monitor, particularly applicable to ac induction motors, provides information for ascertaining the health and condition of the motor. The monitor is self-contained, having its own internal power source, electronics, and sensor suite, and attaches directly to the outer frame of the motor. Sensors disposed within the monitor include a motor frame temperature sensor, flux sensor, vibration sensor, and clock. The flux sensor includes a substantially planar substrate onto which a conductive trace is attached as the flux sensing element. Sensor outputs are processed and analyzed by monitor electronics to determine various life history parameters, including motor speed and load, which are stored in electronic memory. A communications port enables a peripheral device, such as a notebook computer or portable data collector, to communicate with the monitor and download the life history parameters stored in memory.

Abstract: A machining program is prepared based on design data obtained by CAD and machining conditions stored in advance in a data base, while machining status information is obtained from a machining site. Based on the machining program and the machining status information, a machining status is simulated in order to subsequently prepare machining commands required for appropriate NC control.

Abstract: An actuator for automotive HVAC control is coupled to a remote controller by two wires. The controller applies power to the actuator in a high current or a low current mode. A variable resistance driven by the actuator generates a voltage proportional to position in the low current mode. Zener diodes in the actuator circuit prevent motor operation in the low current mode and permit motor operation in the high current mode. A microprocessor in the controller selects the mode and reads the voltage in low mode to determine position. It controls the motor for a duration required to reach a desired position and then checks the new position to verify that the target has been reached. If not, another iteration is employed to reach the target.

Abstract: Process and apparatus for preventing collisions between two machine components, of which at least a first machine component is displaceable by means of a drive along a straight track relative to the second machine component such that the two components can collide, wherein for the simple and reliable prevention of such collisions a sequence of pulses is generated during movement of at least one of the two components relative to the other component by means of signal generating devices associated with the two machine components, namely such that the distance and/or the length and/or the height of consecutive pulses follows a function of the distance of the two components from one another, measured in track direction, and wherein the drive is controlled as a function of this sequence of pulses.

Abstract: A verification system monitors the operation of a digital control system in order to insure proper operation. The verification system receives control signals and monitors these control signals to determine whether operation is proper. The digital control system is adapted for operational control of various equipment. The verification system monitors control signals received from the digital control system as well as the status of the equipment, where appropriate, in determining whether the operation of the digital control system is proper. The verification system includes various portions which monitor the control signals at various stages. If there is an error detected at one of the stages, an error signal is generated which prevents operation of the associated equipment.

Abstract: A tuning method and apparatus are provided for tuning gain values in a motion control system. The system is of the type including an input device for generating position command signals, an actuator for displacing a physical element to a desired location in response to control signals, a sensor for generating feedback signals representative of the position of the physical element and a controller coupled to the input device, the sensor and the actuator for processing the command and feedback signals and generating control signals for driving the actuator in response to the command and feedback signals. The controller multiples at least one parameter error signal derived from the command and feedback signals by a gain value to generate the control signals. The technique includes the steps of accelerating and decelerating the actuator and monitoring the feedback signals during the acceleration and deceleration phases of motion.

Abstract: A fault tolerant controller arrangement for electric motor driven apparatus is implemented by a plurality of control channels, each of which includes a motor and associated drive circuitry. The implementation is such that the rating of each of the plurality of channels is reduced and all channels are operated such that the load is shared between all operating channels. The arrangement is such that all channels share the load dynamically and statically and that each channel in a system of n channels supplies .sup.1 n of the required load driving force in the same direction.

Abstract: A method of correcting thermal displacement error in a driving system of a machine tool comprises forming a heat distribution model including the driving system, and finding an amount of drive in the driving system in the heat distribution model, estimating a heating value supplied to the heat distribution model depending upon the amount of drive, estimating a temperature distribution state in the distribution model by finding a time variation of heating value in the heat distribution model receiving supply of the estimated heating value, finding an amount of heat displacement in the driving system depending upon the temperature distribution state and finding a correction value for thermal displacement correction depending upon the amount of thermal displacement. It is thereby possible to correct the thermal displacement error in the driving system of the machine tool without a detector.

Abstract: A feedback control system which uses estimated back electromotive force(EMF) from a controlled actuator to provide feedback into the control system and improve control of the actuator. Back EMF is estimated from current through the actuator and voltage across the actuator. The estimated back EMF signal is fed back into the control system where it serves as a rate term. In the preferred embodiment the back EMF signal is used in combination with an actuator position signal which is also feedback into the control system. A complementary filter conditions both the rate and position signals for improved performance. The invention is particularly suited for controlling linear actuators which do not provide conventional rate feedback signals.

Abstract: A tool damage prevention system is provided which can easily detect an abnormal load with high accuracy to reliably prevent damage to a tool, and which also can appropriately cope with abnormality even if tool damage or the like has already occurred. A first disturbance torque estimating device estimates a disturbance torque Ys acting on a spindle motor, based on a velocity signal X1s from the spindle motor (spindle) and a torque command value U1s for the spindle motor. A second disturbance torque estimating device estimates a disturbance torque Yz acting on a servomotor, based on a velocity signal X1z from the servomotor (feed shaft) and a torque command value U1z for the servomotor. A comparing device obtains a composite disturbance torque Y by combining the estimated disturbance torques Ys and Yz, and compares the composite disturbance torque Y with a preset reference torque Ye.

Abstract: An electric vehicle having a computer for controlling the charging of its battery includes a probe adapted to connect with a receptacle on a charging station which has a computer for controlling the charging voltage provided over the connection to the vehicle. In response to the vehicle announcing its presence with a broadcast signal, the charge station receptacle may be raised until it senses a laser signal presented by the vehicle to indicate alignment of the receptacle with the vehicle probe. The vehicle and station communicate over a current loop to establish battery type and voltage, method of payment and credit card number, as well as the cost basis for the power. When communications are complete, the system switches over to utilize the same connections for the charging current. The computers include stop modes which they rest in, and to which they return if performance of vehicle and station diagnostics (respectively) indicate inoperability or if other faults occur.

Abstract: A movable barrier or garage door operator has a barrier drive for moving the movable barrier or garage door between open and closed positions. Motion of the barrier is detected by a tachometer connected to the barrier drive or by upper and lower barrier travel limit switches. A test is made to determine if the barrier has been commanded to be in a closed state and to determine if a preselected time interval has elapsed following closure of the barrier. When both of those conditions are present and the door is moved upward without authorization an alarm signal is generated and can signal the barrier drive to apply a closing force. The timer prevents the barrier from being closed on a person or obstacle during normal operation and prevents injury. An obstacle detector also prevents unwanted closure on an obstacle.