Abstract: An apparatus and method is disclosed for controlling motion of a tape dispensing apparatus or the like in response to both computer change in position signals and proportional and integral tracking error signals to maintain a desired conformal relationship between the tape dispensing apparatus and a contoured surface. The level of responsiveness to computer change in position signals versus tracking error signals is adjustable depending upon the severity of the contour so as to optimize servo tracking where necessary.

Abstract: A method to avoid excessive rotational speeds, of the axes of a robot wrist, that result in the vicinity of a singularity in the path defined by consecutive points along which a tool held by a three-axis wrist mechanism of the robot moves. The speeds of the first and third axes are reduced within the allowable range of rotational speed for these axes, generally defined by the robot manufacturer, while maintaining constant the rotation about the intermediate or second joint. The rotational speed about each of these axes is determined as the tool moves between successive points on the path. Then, if necessary, the rotation of the second joint is decreased while maintaining constant the speeds about the first and third axes. Finally, the tool is maintained on the path by rotating the position of the tool without altering the reduced speeds of rotation about the axes.

Abstract: A system for the detection of broken and worn machine tools which may be employed to protect machine tools using one or more machine tool bits and an automatic sequence of machining instructions comprising one or more machining steps. Piezoelectric load cells translate the force applied between the machine tool bit and the workpiece into electrical signals, one of which is selected, sampled, and processed into a series of force values by an analog module, one average force value for every revolution of a machine tool spindle. For the first pass on a first workpiece by a particular machining operation, force value maxima are learned for each machining step, and broken and worn tool force limits are calculated from these force maxima for each machining step. During this learn pass, each recorded force value is compared against predetermined learn ceiling in order to protect the machine tool.

Abstract: An apparatus for positioning a carriage of an automatic transportation system is provided. At least a pair of magnetic cores spaced from each other in the direction of traveling of the carriage are mounted on a floor at a predetermined position within a stop zone on a track of the carriage. A yoke is mounted on a lower surface of the carriage which is disposed within a magnetic field generated by the magnetic cores when the carriage is within the stop zone. A plurality of reflection plates are mounted on the carriage and are equally spaced from one another in the direction of traveling of the carriage. A pair of reflection-type photosensors are mounted on the floor within the stop zone and output a pair of pulse trains 90.degree. out of phase from each other when the carriage moves within the stop zone. Pulses of the pulse trains are counted taking the direction of movement of the carriage into account to produce data representative of deviation of the carriage from a predetermined stop position.

Abstract: A method and apparatus for kinematic parameter identification of an industrial manipulator having either revolute or prismatic joints. The identification of individual kinematic parameters is called the arm signature of a robot. Through the identification and detailed measurement of mechanical features in a robot, kinematic features, i.e. the planes of rotation and centers of rotation for revolute joints and lines of translation for prismatic joints are identified. These three features contain the essential information to formulate a complete robot kinematic model.

Abstract: An apparatus for locating a carrier, such as a lens carrier in a process camera unit, exactly at a desired position, the apparatus collecting data of the inertia acting upon the driving system including a motor and a shifting means, and obtaining a mean value from the collected measured values so as to correct the data of inertia in the driving system with the mean value. From the corrected data of inertia an information about the control of the driving system is derived, and applied to locate the carrier at a desired position.

Abstract: The invention provides a method and apparatus for determining the angular displacement of a rotating shaft, and for commutation of a brushless motor. At least two analog sensors, mounted near the shaft, generate phase-displaced analog signals responsive to the angular position of the shaft. A logic circuit produces a digital code indicating the region of the cycle in which the shaft is instantaneously located. An analog multiplexor selects a unique pair of analog signals from the group of the original analog signals and their analog complements, according to the value of the digital code. An analog to digital converter then generates a digital signal proportional to the quotient of the analog signals produced by the multiplexor, and this digital signal, together with the digital code, is used to activate an address in a memory device. The memory device, such as an EPROM, is programmed with a large number of binary digits, which define a train of pulses.

Abstract: A numerical control method for numerically controlling a machine tool such as a multi-spindle lathe having two or more tools (TL.sub.1, TL.sub.2, TL.sub.3). The numerical control method has steps of creating numerical control data specifying a relation between time and a position along each axis of movement (X.sub.1, X.sub.2, X.sub.3, Z), numerically controlling the position along each of the axes of movement (X.sub.1, X.sub.2, X.sub.3, Z) on the basis of the numerical control data, monitoring whether elapsed time has reached a time specified by numerical control data for each and every axis of movement (X.sub.1, X.sub.2, X.sub.3, Z), and when elapsed time has become equal to a time specified by numerical control data for a predetermined axis of movement, controlling the position along the axis of movement in accordance with succeeding numerical control data for the axis of movement.

Abstract: It takes a comparatively long time for a rotor of a stepping motor to be positioned at the next target stop position (target angular position) and stopped there. This time is the settling time. Before the rotor passes through the next target angular position and begins to oscillate, necessary control is provided to reduce the magnitude of the oscillation for the purpose of shortening the settling time. The phase excitation on each winding of the stepping motor is usually changed over successively until the target angular position is reached. When the stepping motor has approached the target angular position, the changeover of phase excitation is gradually conducted. As a result, the magnitude of the above described oscillation is reduced and hence the settling time is shortened.

Abstract: An interface unit is connected beween a numerical controller (NC) and an electric power control circuit (PC). The interface unit includes an actual speed memory (50) into which the numerical controller (NC) can write actual speed data and from which the electric power control circuit (PC) can read out the written data, and a corrected speed memory (51) into which the electric power control circuit (PC) can write corrected speed data and from which the numerical controller (NC) can read out the written data. This makes it possible for the electric power control circuit (PC) to detect the actual speed of the numerical controller (NC) by reading out the actual speed memory (50), and to control the actual speed of the numerical controller (NC) by writing the corrected speed data in the corrected speed memory (51).

Abstract: A CNC process for displacing a movable member along a path on an intricate surface in a three-dimensional coordinate system is disclosed in which the surface is divided into a plurality of elementary characteristic regions each individually definable as one of different geometrical categories such as toroidal, spherical, cylindrical and planar surfaces. The process comprises establishing a general equation for each of these categories and storing the established general equations into a memory unit for a computer. Data required to adapt each of the stored general equations to a corresponding one of the characteristic regions in the three-dimensional coordinate system are inputted into the computer to reduce the general equations to their respective specific equations in which no more than three coordinates are variable.

Abstract: A slot detecting apparatus comprises a sensor for detecting a slot of a workpiece, comparators, and a discriminating circuit. The sensor moves over the workpiece so as to traverse the slot and produce an output having a waveform which is substantially an M-shape. The comparators compare the level of the output of the sensor with a plurality of threshold levels which are mutually different, and each produce a comparison result for each of the plurality of threshold levels. The discriminating circuit discriminates the position of the slot based on a comparison result which indicates that the output of the sensor has a waveform which is substantially an M-shape, from among a plurality of comparison results which are obtained from the comparators for the plurality of threshold levels.

Abstract: A direct-current electric motor (29) used for, for example, positioning a printing device in an office machine, is controlled by an arrangement comprising a microprocessor (40) which causes the motor digitally to perform accelerations and/or decelerations to maintain it close to a desired speed programmed in relation to the distance to be completed. Control between the actual speed of the motor and the desired speed is effected utilizing the timing signals (FTA, STB) generated by a transducer (35) connected to the motor. During a first phase, the microprocessor compares the times taken to complete a series of angular steps of rotation, the steps following a schedule of decreasing size with stored reference times and effects accelerations and decelerations of durations proportional to any discrepancies.

Abstract: In a numerical control system, a machine tool with an automatic tool changer is provided with an origin detector for generating an origin signal when an NC drive axis for effecting relative movement between a spindle head and a work table in an axial direction of a tool spindle is returned to a machine origin. A numerical controller is connected to the NC dirve axis, the tool changer and when operated in accordance with a numerical control program, controls them so that a series of machinings can be selectively performed on a workpiece on the work table. The numerical controller executes an emergency returning control program when a manual switch is depressed to instruct the returning of the NC drive axis to the machine origin.

Abstract: A method for controlling a multi-joint robot having redundant operating joints, wherein joint velocities are calculated for non-redundant joints with redundant joints being fixed for each of at least a portion of the combinations of the non-redundant joints excluding redundant joints capable of attaining the movement of the robot end at a command velocity specified to the robot, by inverse-coordinate-transformation from the spatial coordinate to a joint coordinate inherent to the robot, on the basis of joint angles detected by an encoder mounted on the joints of the robot and the joint velocities are averaged or nearly averaged to obtain the average value or nearly average value as a desired joint velocity for the joints. The desired joint velocity is supplied to a velocity control unit of the robot as a controlled variable.

Abstract: In a control apparatus for a multi-jointed arm mechanism having a plurality of arm elements in order to enhance the operating speed of each arm element, a true control error between a fore end of the arm element and a target position therefor, resulting from a movement of the arm element, and a predicted control error thereof have their difference evaluated, and the arm element is controlled so as to make the difference zero.

Abstract: An open loop controller for the stepper motor of a disk drive actuator is programmed to supply pulse width modulated drive voltages for energizing and de-energizing successive phases of the stepper motor at controlled rates during the initial and final phases of each actuator seek, thereby controlling the acceleration and deceleration profiles of the actuator to reduce its mid-frequency resonance, settling time and position hysterysis.

Abstract: Grinding machine for finishing a surface of revolution on a workpiece, comprising a computer-controlled program bringing about a rounding-up operation at creep speed by spindle deflection compensation. A sensor is provided that generates an analog electrical signal indicative of the grinding force between the wheel and the workpiece, including a converter for changing the electrical signal to a digital signal. A digital computer is connected to the sensor and also to the actuator for the transmittal of signals therebetween for the regulation of the operation of the actuator. The control device includes apparatus for the measurement of system rigidity and for using this measurement to control the actuator.

Abstract: An NC working system is characterized in that a working period consisting of periods of time for travelling and idling for respective tool rests of a lathe or the like is obtained by an automatic program, the thus obtained working periods are simultaneously displayed as a bar graph on a display, and the periods of travelling time and idling time are made shiftable for correction on the display, so as to reduce the working period.

Abstract: In machine tools it is necessary to monitor the track of a cutter tip on a tool post. A predetermined tolerance scope is given to sampling positions during the model cutting, and only the data of the points and distance defining the tolerance scope is stored. During the actual cutting, a determination is made as to whether or not a sampling position is within the tolerance scope and the track is thereby securely monitored.

Abstract: A numerical control device 102, in which a processor 102a numerically controls a machine tool 103, is provided with an external storage unit 201 for storing machining data conforming to various shape patterns, input means 202, an editing processor 102c and an internal memory 102d, in order to implement a function for the creation of numerical control information. Machining data, corresponding to a part code entered from the input means 202, is read out of the external storage unit 201c. The editing processor 102c creates numerical control information, which is stored in the internal memory, from the machining data and, e.g., numerical values input from the input means 202.

Abstract: An industrial robot has a control system with a program memory. During programming, the robot is manually controlled to a sequence of desired positions. At each position, an operating member may be activated to store into the program memory an instruction containing both information about the robot position and information about robot operation at that position.Suitably information about robot operation is entered in the form of identification of a sub-program containing a set or sequence of control signals which have been stored in advance. The sub-program is suitably identified by a number fetched from a buffer memory. For each of the instructions, during the execution of the main program, on the one hand the positioning of the robot is executed and, on the other hand, the sub-program is called and executed.

Abstract: An induction motor is coupled to a movable load to be positioned. The induction motor has two or more stator windings. Alternating current power is connected to the stator windings to energize the motor. A transducer senses the position of the load. Responsive to the transducer, the alternating current power is disconnected from the stator windings as the motor approaches a predetermined load position. Also responsive to the transducer, a direct current energy storage device is connected to the motor as the motor approaches more closely to the predetermined load position to apply direct current to the stator windings and to stop the motor at the predetermined load position. Preferably, the storage device comprises a capacitor connected in series with a rectifier across two input terminals of the motor and the storage device is connected to the motor by a relay coupled from the junction of the rectifier and capacitor to one of the input terminals of the motor.

Abstract: A method and apparatus for controlling an electric discharge machine wherein a motor for moving an energized electrode relative to a workpiece is driven in accordance with command data.

Abstract: An improvement in a system and method of controlling a body to maximize the amount of solar energy received by a collector by moving the body in azimuth and elevation by respective DC motors having connected therewith ring magnets and Hall Effect Devices for signalling the degrees, or steps of rotation. The at least one body may be a collector, per se, or a plurality of heliostats in an array reflecting onto a central collector. A central computer calculates a commanded position for particular time of particular day for the particular location of the body. A microprocessor incorporating respective software and hardware then calculates the position for the heliostat to be in terms of the number of signals from the Hall Effect Device, compares the number of signals from the Hall Effect Device once the motors are energized in, respectively, azimuth and elevation and runs to the commanded position.

Abstract: In a tracking control system of a multijoint robot, a change in posture of an end of a tool attached to a hand of a robot arm is defined as rotation about a rotational main axis of the tool. An arc traced by an imaginary point which is in a plane perpendicular to the rotational main axis and which is spaced apart by a predetermined distance from the rotational main axis is synthesized with a straight line traced by the imaginary point upon translational motion of the end of the tool, thereby producing a helical trajectory. A velocity pattern is given to this helical trajectory, and a translational velocity pattern and a rotational velocity pattern are derived as components from the velocity pattern given to the helical trajectory. Servo control is smoothly performed to control joint variables so as to provide a target position/posture tracking output which prevents abrupt changes.

Abstract: Displacement table data, which consist of pulse number data for N individual displacement divisions which altogether constitute a given rotational displacement of a pulse motor, are stored in a memory so that the sum of pulse numbers stored in the individual divisions may be equal to a given pulse number corresponding to the displacement of the pulse motor. Pulse period table data, which consist of pulse period data for determining the speed of the pulse motor for divisions corresponding in number to the number of divisions of the displacement table data, are stored in another memory. The pulse motor control is effected by causing generation of pulses corresponding in number to the pulse number data for the individual displacement divisions of the displacement table and having pulse periods for the individual divisions of pulse period table, and by executing the generation of pulses for the successive divisions.

Abstract: A lathe for cutting a spiral strip of veneer from the surface of a log includes motor-driven mechanisms for adjusting the knife blade pitch angle and edge height, and for moving a pressure head relative to the knife to adjust the vertical gap and horizontal gap between the knife edge and the roller bar, and provides sensors for determining the actual positions of movable elements of the lathe, thus enabling computer-controlled adjustment of the movable elements of the lathe during lathe operation. A knife clamp of the lathe includes a plurality of separate clamp segments for pressing against different portions of a knife bar to hold it firmly, resisting deformation and rocking of the knife bar. Fluid-pressure-biased bearings eliminate looseness between relatively movable parts of the lathe, reducing the amount of variation of thickness in veneer produced using the lathe. Veneer thickness is controlled by monitoring cumulative movement of the lathe spindles and the main feed carriage.

Abstract: Disclosed is a numerical control method for a numerical control (NC) system having a device to execute a mirror image function wherein the moving direction of a movable member is reversed with respect to a commanded direction for each control axis, and a memory device to store coordinate values of a commanded position and coordinate values of a current machine position. This numerical control method comprises a step of storing the respective axial coordinate values of the current machine position at the time that the mirror image function has become effective, a step of calculating the commanded position coordinate values (CP) of directly preceding NC data after the mirror image function has become effective, by using the current machine position coordinate values and the position coordinate values at the time that the mirror image function has become effective, a step of calculating an incremental value (CP.sub.n -CP) of the control axis, CP.sub.

Abstract: A numerical control apparatus for a machine tool (4) comprises a transmitting circuit (43) for transmitting each block of machining information to an abnormal operation monitoring apparatus (6), which comprises a receiving circuit (61) for receiving each of said blocks of machining information and a decoding circuit (63) for decoding the content of said received blocks of machining information, thereby, as the machining proceeds by each one block, data indicating the content of said block and a signal indicating the termination of execution of the machining operation defined in said block are supplied from said numerical control apparatus (4) to said abnormal operation monitoring apparatus (6) and said content of each block of machining information is decoded in said abnormal operation monitoring apparatus (6).

Abstract: A method and apparatus for numerically controlling a machine tool having at least two tools which are arranged to move in unison with a constant position relationship with respect to one another, the tools being moved relative to a workpiece in accordance with absolute commands to machine a workpiece in a prescribed manner. A single current position register, comprising a section for storing X coordinates and a section for storing Z coordinates, is provided to store the current position of a first tool. Further provided are arithmetic means, responsive to a command for setting coordinates, for computing the current position of a second tool, as well as pulse distribution means.

Abstract: A positioning drive for a serving machine of the type having a variable speed motor and functional means driven by the motor. A microprogram system controls the motor and the functional means in response to a program data source.

Abstract: A positioning apparatus employing a piezo worm type shifting mechanism in which the position of a platform to be moved to a desired position is measured with a position measuring device and data representing the position thus measured is applied to a microprocessor. The microprocessor calculates the phase of a voltage corresponding to the distance through which the platform should be moved to arrive at the desired position. The digital output is subjected to digital-to-analog conversion and a pulsive voltage produced thereby the magnitude of which corresponds to the distance to be moved. The pulsive voltage is applied directly to expanding and contracting piezoelectric elements which move the platform. The platform is thereby positioned at the desired position at a high speed and with a high accuracy.

Abstract: A regulating device for servo components such as for example inking, dampening, format setting or deckle size setting screws employed at printing and binding machines for regulating deviations from set points. A measuring device for determining the position of the servo component is followed by a storage for actual setting values having its output connected to a comparison circuit. A second input of the comparison circuit is connected to a storage for set point values and the output of the comparison circuit is connected via a control circuit to the servo component. The storage for actual setting values is connected via a decoder to a display unit. A carrier for set point value data is connected to the storage for set point values. A clock generator is connected to the inputs of the storage for set point values and to the storage for actual setting values.

Abstract: In unloading a press, it is desirable to provide automatic unloading without the need for operators, even in situations requiring a definite stacking order in containers located next to the press. To achieve this automatic unloading, extraction grippers and a carrier frame are provided which can be moved in three directions which are at right angles to each other by servo drives controlled by a continuous-path numerical control unit.

Abstract: A microcomputer control system for operating a die press stamping machine comprising a microprocessor including data storage memory means, means for programming the memory with data representing the coordinates of each machine position in a sequence defining a multiple number of cutting programs means for selecting a predetermined cutting program, means for displaying each address position within the microprocessor memory and means for selectively introducing machine coordinate data within memory at the displayed address position.

Abstract: The switch of the invention is a double deck type rotary switch having a position deck for detecting a home position and means for determining each position of the switch relative to the home position. A switching deck, rotated together with the position deck, selectively applies operating voltage to a plurality of operative devices, such as sprinkling valves.The system incorporates a microprocessor to control a motor for driving the rotary switch to a commanded position. The position deck signals the microprocessor as the deck reaches the predetermined position and the processor provides a delay before applying voltage to the switching deck, insuring that good load contact is made, so that arcing is avoided. The switching deck makes its load contact a few degrees ahead of the position deck in order that the load contacts for the work voltage are in the center of their terminal spring clips before the microprocessor is signaled that the predetermined position has been attained.

Abstract: An open loop servo controller for controlling motors which drive a solar energy utilizing device about its azimuth and altitude axis to track the sun. The controller has a central processor and elements for inputting data corresponding with the present day of the year, the hour of the day, the minute of the hour and with the latitude and longitude of the device installation. Memories store program data, and tables of data corresponding with the declination of the sun on any day and of other mathematical functions. The processor uses the data to calculate the azimuth and altitude angles of the sun itself within every minute of the day and causes signals to be produced which result in motor controllers causing the motors to turn the device through azimuth and altitude axes angles corresponding with the calculated angles.

Abstract: Herein described is an electronic control system for guiding a search unit of a nondestructive material tester over sloped or curved surfaces and shapes. More particularly described is the index system used on an indexing-scanning (inspection) device. An oscillator provides a preset number of pulses through an angle rate generator and direction logic to a binary coded decimal pulse counter. The counter keeps track of the input pulses provided thereto (each pulse represents an 0.1.degree. increment) therefore, its contents are indicative of the angle accumulated therein. A pair of read only memories provides the sine function and cosine function of the accumulated angle as a binary coded decimal trigonometric representation of the input angular degree. The signals therefrom control respective Y and Z rate generators whose input clock rate is indicative of the velocity along the curve of the pivot point of the search unit.

Abstract: A system for directing sequential commands to a plurality of device control circuits, each of which is capable of being individually addressed and controlled to perform one of a plurality of modes of energization by the input commands. The control circuits are used to control energization of devices, such as peripheral devices of numerical control machines and may utilize feedback status signals from the devices, in some modes, to regulate the receiving of further input commands. The commands may be each acted upon sequentially or some may be grouped to be acted upon simultaneously.

Abstract: An electronic circuit particularly suited for use in a precision lead screw generator to monitor and control linear displacement of the carriage and cutting head and angular displacement or rotation of the workpiece at a preselected, fixed ratio. Rotation of the workpiece is controlled by a phase-locked electronic servo loop which divides one revolution of the piece into a preselected number of discrete increments. Similarly, linear displacement of the cutting head is controlled by an electronic servo loop, including a laser interferometer, which divides a selected unit of displacement into discrete increments. A master oscillator and appropriate frequency dividers incrementally step the respective servo loops at a frequency ratio corresponding to the desired pitch or lead of the final product.

Abstract: This invention is directed to an apparatus comprising a suction device having at least one nozzle for sucking suspendible material as a suspension from a bed of said material, means for producing suction in the nozzle and means for moving the nozzle horizontally and vertically in relation to said bed, and the invention relates more particularly to a method of controlling the horizontal and vertical movements of the suction device by utilizing as control signals the variations of the solids concentration and volume of suspension sucked through the nozzle per unit of time, and the invention also comprises an apparatus having means for carrying the method into effect.

Abstract: A numerical control comprising an input means for reading a program, a forward-interpolating-information producing circuit, a reverse-interpolating-information producing circuit, an interpolation circuit and a control circuit for controlling the above means is provided.

Abstract: A system is disclosed for a sewing machine in which preselected stitch patterns may be formed automatically. Information related to the positional coordination of the needle penetration for each stitch of each pattern is stored in the sewing machine. Logic means are used to select and release said stitch information in timed relation with the operation of the sewing machine. The selected information is converted to positional analog signals which control closed-loop servo means including a moving-coil linear actuator which directly controls the position of conventional stitch-forming instrumentalities of the sewing machine to reproduce a pattern of stitches corresponding to the selected stitch information.

Abstract: A computer controlled machine tool contouring system having a cutting element which is positioned relative to a workpiece support table. An actuating means controls the workpiece support table to synchronously rotate about a first axis and slide along a second axis in response to a set of control signals. The actuating means further controls the cutting element to translate along a third axis (the third axis being parallel to the first axis and perpendicular to the second axis) in response to a further set of control signals. The control signals are generated by a control means from stored data signals which are representative of the coordinates of points on the desired workpiece contour, the desired pressure angle of the cutting element at each contour point, the current radius of the cutting element, and the desired cutting element motion along the third axis.

Abstract: A program control unit for industrial robots comprising programming means to check instructions from arm-position memory means in which the arm motions are set by means of an arm-position selecting circuit and generates arm-position setting signals and also instruction signals for the grip and the exterior through an instruction signal converter circuit, and a stepping circuit to which are led quick-feed or jumping instructions as well as instructions based on actual arm-position signals, grip and exterior motion signals, and confirmation signals from the programming means, so that the programming means can be allowed to proceed with the processes by said stepping circuit.