Abstract: A method for controlling an automatically operated lathe provided with at least one spindle and at least one tool rest includes the following steps. First, each of a plurality of transfer position data required in a sequence of machining programs in connection with at least one spindle and at least one tool rest is provided in a form of either one of two types of transfer position data, one of which is cam-reference data directing a transfer position as a function of a cam rotation quantity and the other is time-reference data directing a transfer position as a function of an elapsed time. Next, a time-series allocation of the cam-reference data and the time-reference data is designated in the sequence of machining programs. Then, the cam-reference data and the time-reference data are processed in accordance with the time-series allocation, so as to control a relative feed motion between at least one spindle and at least one tool rest in the sequence of machining programs.

Abstract: A method for controlling an automatically operated lathe, provided with at least one spindle and at least one tool rest, includes the following steps. First, each of a plurality of transfer position data required in a sequence of machining programs in connection with at least one spindle and at least one tool rest is provided in a form of a cam-reference data directing a transfer position as a function of a cam rotation quantity. A plurality of pulse-train generating sources, each of which generates any pulse train, is also provided. Next, with regard to each of the plural transfer position data, a pulse-train generating source for generating a pulse train defining the cam rotation quantity as one component of the cam-reference data is designated, with the pulse-train generating source being selected from the plural pulse-train generating sources.

Abstract: There is provided a print control unit capable of transferring and stopping an object to be controlled at a target position when unexpected load is applied to the object. A print control unit includes: a selection control part, operating at a predetermined timing, to select and set the control parameters in accordance with the target speed, to judge as to whether the object is located within a target range, based on the output of the position detecting part, if located, the selection control part selecting and operating the third control part, while if the object is not located within the target range, the selection control part selecting and operating the first or the second control part based on the physical value corresponding to the speed.

Abstract: A position of an object is controlled based on a distance YS until the object is stopped, a target velocity VS of the object, acceleration time ta for accelerating the object, deceleration time td for decelerating the object, velocity variation &Dgr;Va within the acceleration time, and velocity variation &Dgr;Vd within the deceleration time, and a deceleration-start distance YSd. The distance YSd is a distance from where the object is made to start deceleration. The distance YSd is a sum of an integer part YSdq and a decimal part YSdr of the deceleration-start distance. Thus, management of decimal fractions is performed with respect to a pulse generation unit that outputs an output pulse corresponding to the velocity instruction.

Abstract: The system is operable to control a robotized gearbox which includes control levers which can be displaced along at least one working line along which a plurality of nominal operating positions are defined which correspond to the speed ratios or gears and to a neutral position. The control system includes electro-mechanical actuators coupled to the control levers and operable to displace them along the said at least one working line, and an electronic control unit operable to control these actuators to operate in a predetermined manner, so as to position the control levers selectively in one of the operating positions. The control levers have associated sensors operable to supply the control unit with signals which together indicate that the levers have reached predetermined positions along the said at least one operating line.

Abstract: A system of intelligent appliances coupled by common household power lines or wireless links. One or more of the appliances serves as a system controller and may include a further communications interface for coupling to an external communications network, such as the telephone network. The system can thus be accessed and controlled remotely. The system can also communicate with and obtain information from remote sources such as Internet-based facilities.

Abstract: Parameter set 1: T1a, T2a, Fa, Aa, parameter set 2: T1b, T2b, Fb, Ab, and parameter set 3: T1c, T2c, Fc, Ac, which consist of parameters having discrete values in three stages (large, medium and small) are prepared in the memory for example of the CNC 1 or the personal computer 3. For a given parameter set, the set giving priority to accuracy (S=0) is indicated by P (T1p, T2p, Fp, Ap), while the set giving priority to speed (S=1) is indicated by Q (T1q, T2q, Fq, Ag), and interpolation is performed and the parameter set Y=(1−S)×P+S×Q is obtained. The CNC 2 creates operating commands based on set Y and outputs these to the servo control section 2.

Abstract: The invention concerns a control system for a d.c. motor (10), powered by an actuating system (14) comprising: a position detector (30, 32) co-operating with the motor's rotor; a power supply circuit (34) to apply to the terminals of the motor coils a supply voltage to generate the electric current, and a control circuit (36). This system is designed to actuate the motor to move a moving part (24), with a view to reaching a target position Pc defined by a number of steps dc to be executed. During a so-called positioning phase, the control circuit (36), after observing that target position Pc has been reached, interrupts the current powering the coils and applies to them a braking pulse (If) of reverse polarity, then short-circuits them until stoppage observed by the detector (30, 32).

Abstract: A system for controlling a regulator equipped with an electric servomotor in a motor vehicle. With reference to an example of an electronic steering system that has an electric-motor steering regulator, output parameters are generated by a model-assisted monitor for evaluating the suitability of a correction for the regulator, and thus criteria for a possible shutdown or to initiate emergency action, as a function of setpoint parameters for the electric servomotor, of instantaneous parameters measured by individual sensors, and of the driving state, and, based on a setpoint behavior of the regulator and on a model simulating the control sections it contains.

Abstract: A stage assembly (10) for moving a device (26) along an X axis and a Y axis includes a stage base (12), a device table (16), a stage mover assembly (18), a measurement system (21), and a control system (22). The stage mover assembly (18) includes a pair X guide movers (82) (84) and a Y table mover (87). The measurement system (21) includes a first X system (100) and a second X system (102). The control system (22) receives the position signals from the measurement system (21) and directs current to the X movers (82) (84) to move the device table along the X axis. The control system (22) can be designed to not skip any servo cycles during switching of position signals.

Abstract: The present invention provides a CPU-containing LSI in which software stored in an external memory is incorporated partially into a RAM and thereby the capacity of the RAM to be used can be held down, and an optical disk device including the same. In the CPU-containing LSI, the RAM includes a software storage region where software read in from the external memory on a module-by-module basis is stored, and an entry table in which entries are stored, with the entries each containing at least information as to a location and a size of a module stored in the software storage region. The CPU refers to the entry table to decide the location where a module to be read in from the external memory to the software storage region is to be stored, according to an incorporation-location search program.

Abstract: In a servomotor drive control system comprising a command unit such as a numerical control unit, a plurality of drive control units for controlling drive of servomotors, a first communication line for transmitting data such as a control command, in a direction of the above-mentioned plurality of drive control units from the above-mentioned command unit, and a second communication line for transmitting data such as detection data, in a direction of the above-mentioned command unit from the above-mentioned plurality of drive control units, wherein data is transferred between the above-mentioned plurality of drive control units using the above-mentioned communication lines, whereby the above-mentioned servomotors are synchronously controlled, the communication period between the above-mentioned drive control units is set to one-nth of the communication period of the above-mentioned command unit (n is an integer).

Abstract: There is provided a serial transmitting section for serially transmitting a command frame 100 which is sent from a host controller 1 to a positioning type servo amplifier 30 and a command follow-up type servo amplifier 50. In the command frame 100, an information section, into which information to be transmitted is inputted, has discrimination data for showing a selection between the positioning type servo amplifier 30 and the command follow-up type servo amplifier 50. In the positioning type servo amplifier 30 and the command follow-up type servo amplifier 50, there is provided information reading section for reading the content of an information section after the discrimination data of the command frame 100 by the discrimination data of the command frame 100.

Abstract: Simulated textures whose parameters are held with object model data in a data store 5 are modified in accordance with data held in a data store 6 which data defines a Gamma correction factor 73 previously determined for each identified user. The gamma correction factor is determined by outputting to a Haptic Output interface a texture simulation comprising spaced grooves or ridges. By correlating user response to the perceived “feel” of the texture (rough, medium or smooth scale for example) the user's perceptual factors can be determined. Subsequently applying the perceptual factors to effect a mathematical adjustment (power) of texture in simulation algorithms allows output simulations to be adapted so that each user has a corresponding perception of the simulated objects.

Abstract: The present invention discloses a system and method for confining a robot to a particular space. The system includes a portable barrier signal transmitter that produces a barrier signal primarily along an axis, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal. In the preferred embodiment the barrier signal is emitted in an infrared frequency and the robot includes an omni-directional signal detector. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected.

Abstract: A method of controlling an electronic cam type rotary cutter or sealer driven by a servo motor. The method comprises preparing a correct position pattern for a whole region including cutting or sealing and non-cutting or non-sealing zones. An electronic cam curve of a cubic function is used as a position pattern for the non-cutting or nonsealing zone. An electronic cam curve of a quadratic function is used as a speed pattern. A position loop is formed in the whole region on the basis of the electronic cam curve. A position control is performed at every moment on the basis of said prepared correct position pattern, whereby a control is enabled causing a single algorithm to automatically cope with a long and short cutting or sealing operations and a change of a line speed.

Abstract: In an industrial robot having a plurality of arms, each arm is coupled with other elements, such as a mounting base, another arm, a robotic hand, and revolved by a motion of the revolvable joint. The revolvable joint has a rotary electric connecting structure such as a slip ring or a rotary transformer which can be rotated endlessly. Electric powers for driving motors by which the arms are revolved and control signals for controlling the driving of the motors are supplied or transmitted through the rotary electric connecting structure, so that the arms can be rotated endlessly without twisting or breaking of electric cables.

Abstract: An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of drive track assemblies. The plurality of drive track assemblies cooperate to provide forward propulsion wherever a propulsion member is in contact with any feature of the environment, regardless of how many or which ones of the plurality of drive track assemblies make contact with such environmental feature.

Abstract: A flap to be identified is caused to move over the whole of its angular range of travel. The number of motor steps is counted during this movement, and the number of steps counted is compared with at least one pre-recorded information item corresponding to a particular flap or type of flap. The method is applicable to the checking of the correct fitting of actuator housings in an air-conditioning installation, or to the allocation of addresses to actuators connected to an information bus.

Abstract: A robot that is capable of substantially autonomous movement includes a processing device, a memory, and a mobility structure controlled by the processing device. The processor directs the robot to move with any predetermined safe area having a boundary and a reference point. Optionally, the robot also exhibits features of social interactivity by accepting an input from a human, selecting dynamic content from a data base wherein the dynamic content is responsive to the input, and presenting the human with a response corresponding to the dynamic content selection.

Abstract: A system and method for transmission of communication signals between a controller and a robotic device in a data storage library. The system and method include a substantially planar electrical insulator having opposed first and second sides, and first and second substantially planar oppositely charged electrical conductors on the first and second sides of the insulator for use in providing electrical power to the robotic device. The system and method also include circuitry for generating the communication signals for transmission between the controller and the robotic device on one of the first and second conductors. The width of the second conductor is less than the width of the first conductor and the second conductor is substantially centered on the second side of the insulator relative to the width of the first conductor to reduce fringing of an electromagnetic field resulting from a transmitted communication signal.

Abstract: A voltage control system for a vehicular power generator includes a receiver unit that receives voltage pulse signals indicating characteristics of the voltage control system from an external device with stability. The device periodically reads two cycles of leading edges or trailing edges, or two periods of high level pulses or low level pulses. When a difference between the two cycles or periods is within a predetermined range, the indicated value of the present voltage pulse signal is used to control the power generator. When the difference is out of the predetermined range, the indicated value of the stored previous pulse signal is used instead.

Abstract: The present invention relates to a more convenient machining simulation apparatus for simulating a machining operation in accordance with an NC program. The machining simulation apparatus is adapted to display the configuration of a tool and the configuration of a workpiece on a display device (31) and change the tool configuration and the workpiece configuration on the display device (31) in accordance with the NC program so as to check the movement and machining state of the tool on the display device (31). The apparatus includes a process image data storage section (27) for storing therein pixel data generated at the end of a machining process precedent to the designated machining process from the process image data storage section (27) to display the tool configuration and the workpiece configuration on the display device (31) and successively re-generates pixel data to display the tool configuration and the workpiece configuration on the display device (31).

Abstract: A motor control apparatus has a motor driver for driving a motor in accordance with an input of digital-format drive data of a predetermined length, thereby driving a mechanism using the motor as a power source. The drive data, which has been made to correspond to a plurality of drive patterns, is stored in a memory, part of the drive data, which has been read out from the memory by DMA, is replaced with other data, and the resultant data is output to the motor driver. Thus, different drive data can be generated by replacing a part of the drive data stored in the memory with other data, and the generated data can be transferred to the motor driver. This makes it possible to reduce the memory capacity needed for motor control.

Abstract: The invention in the simplest form is a technique to provide for sharing of power and signal pins on a motor controller. The switching simply follows the magnetic switching detected by the Hall sensor as the motor magnet passes and uses a diode or resistor instead of a switch. The power transistors are respectively connected to a voltage regulator through a diode or resistor and there are no switches in the circuit. To avoid simultaneous switching, one embodiment is designed by turning “On” slowly and turn “Off” quickly. Slow “On” is accomplished by using a resistor/capacitor (RC) delay such that the gate drive ramps slowly. Fast “OFF” is obtained by discharging the gate capacitance with an N-CH transistor that bypasses the RC delay.

Abstract: An ideal position is calculated based on an ideal servo system model, the difference between the calculated ideal position and the actual position feedback is multiplied by a predetermined gain only for a predetermined time from the direction reversing time of the ideal position, and the result is added to the speed command as the correction amount, so that variations in the correction effect, caused by the effect of a secular variation of the friction amount and the work condition difference is suppressed and even in a machine system with large elastic change in torsion of a ball screw, a seal material, etc., undercut caused by torsion restoration after the correction, etc., is suppressed and a servo system is prevented from becoming unstable.

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 controlling a voltage mode controlled electric machine comprising: receiving a torque value representative of a desired torque; obtaining a speed value indicative of a rotational velocity of the electric machine; acquiring a phase advance value indicative of a desired phase advance angle; generating a voltage command responsive to the torque value, the position value; the generating is responsive to the torque value, the speed value, and the phase advance value.

Abstract: A substrate processing apparatus comprising a frame, a drive section, an articulated arm, and at least one pair of end effectors. The drive section is connected to the frame. The articulated arm is connected to the drive section. The articulated arm has a shoulder and a wrist. The arm is pivotally mounted to the drive section at the shoulder. The drive section is adapted to rotate the articulated arm relative to the frame about an axis of rotation at the shoulder, and to displace the wrist relative the shoulder. The pair of end effectors is connected to the articulated arm. The pair of end effectors is pivotally jointed to the wrist of the articulated arm to rotate relative to the articulated arm about a common axis of rotation at the wrist. Each end effector is independently pivotable relative to each other about the common axis of rotation at the wrist. At least one end effector is independently pivotable about the common axis of rotation of the wrist relative to the articulated arm.

Abstract: The present invention discloses a system and method for confining a robot to a particular space. The system includes a portable barrier signal transmitter that produces a barrier signal primarily along an axis, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal. In the preferred embodiment the barrier signal is emitted in an infrared frequency and the robot includes an omni-directional signal detector. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected.

Abstract: An identification environment determining method includes converting a captured image into digital information, detecting a face area of a person from the digital image to store the face area, and identifying the person using a stored image and face image information that is referred for identification, informing a user about a result of identification acquired, inputting information obtained by having the user judge whether the result of identification is correct or incorrect, determining whether a present lighting environment is suitable for identification, controlling a robot, and moving the robot.

Abstract: In a numerical control system of the invention, a motor drive power converter 1a comprises input current determination means 12 for comparing an input current found by input current detection means 11 with an allowable current value with respect to less-than, equal-to, or greater-than relation, and acceleration/deceleration command change signal output means 13 for outputting a control signal to a drive unit 2a, 3a based on the determination result of the input current determination means 12. If the input current determination means 12 determines that input current Ii> allowable current value I0, acceleration/deceleration command generation means 15a, 15b of the drive unit 2a, 3a changes an acceleration/deceleration command (lessens the inclination of a speed command), thereby lowering the input current Ii.

Abstract: A material handling system for lifting a load and a method sensing an unstable state of the material handling system. The system includes a motor, a brake and a drive. The method includes storing a model of the motor in the drive and generating a signal in the drive. The signal has a voltage and a frequency. The method further includes providing the signal to the motor, sensing a current value of the signal, determining a modeled value based in part on the sensed current value, comparing an actual value to the modeled value to determine whether the load is stable, and generating an output that sets the brake when the load is potentially unstable.

Abstract: A control device of an electric motor which can compatible high robust stability performance and a tracking performance and a designing method thereof. A feedback correction is obtained based on a detected motor rotation speed and a feedforward correction amount is obtained based on a calculated target torque by a controller of a microcomputer. The microcomputer commands torque control to an SR motor based on the feedback correction amount and the feedforward correction amount.

Abstract: The present invention provides a servo-control apparatus for a motor, comprising position detecting means for detecting a rotational position of a motor, rotational speed signal generating means for generating a rotational speed signal corresponding to a rotational speed of a motor, and digital control means for generating an exciting electric current to be supplied to a coil of the motor as a PWM signal in accordance with the rotational speed signal from the rotational speed signal generating means, and wherein a switching signal for switching the exciting electric current to be supplied to the coil of the motor is formed by a pre-driver in accordance with the position detection signal from the position detecting means, and the pre-driver combines the switching signal with the PWM signal from the digital control means to generate an electric current control signal by which the motor is driven, thereby coping with the speed change of the motor quickly and stably.

Abstract: Method and apparatus for accelerating a disc drive spindle motor to an operational velocity at which data are transferred between a host device and a disc rotated by the spindle motor. The spindle motor is initially accelerated from rest to an intermediate velocity at which sufficient back electromotive force (bemf) is generated by the rotation of the spindle motor to enable commutation circuitry of the disc drive to time the application of drive pulses to the spindle motor. The spindle motor is subsequently accelerated from the intermediate velocity to the operational velocity by applying a velocity dependent reference profile which establishes a sequence of reference levels to control the flow of current through the spindle motor during acceleration. The sequence of reference levels have different magnitudes at different velocities of the spindle motor between the intermediate velocity and the operational velocity.

Abstract: A system for universal guidance and control of automated machines incorporates with an IMU (Initial Measuring Unit) installed at an end effector of a motion element of an automated machine, fast-response feedback control for both position and angle servo-loops (for the end effector) greatly decreases the operational time needed to complete a preplanned trajectory. In addition, the closed-control loop design provides stabilization and isolation of the end effector from external disturbances. This unique navigation solution is based upon the uses of a set of equations performing an open loop computation with the inertial data as its input. This formulation of equations requires a periodic update of the open loop solution in order to bind the growth of system errors. The source of this update is the automated machine position measurement derived from the mechanical sensors in the system.

Abstract: A multi-mode motor controller architecture includes a motor, an integrated circuit controller, and an integrated circuit driver circuit. The integrated circuit controller includes a pulse generator, a DAC, an ADC, and a digital compensator circuit. The integrated circuit driver circuit is in communication with the controller and includes an error amplifier, first and second output amplifiers for driving the motor, and a sense amplifier. The motor controller architecture is configurable to operate in a linear mode, a pulsed mode, or a switchable linear/pulsed mode. The controller architecture can be implemented with external compensation circuitry, such as a resistor-capacitor circuit, or with the digital compensation circuitry located within the controller integrated circuit.

Abstract: The present invention discloses a system and method for confining a robot to a particular space. The system includes a portable barrier signal transmitter that produces a barrier signal primarily along an axis, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal. In the preferred embodiment the barrier signal is emitted in an infrared frequency and the robot includes an omni-directional signal detector. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected.

Abstract: A method for cleaning the bottom of a pool uses an automated programmed pool cleaner capable of reversing movement and turning that is initially placed at an arbitrary location on the bottom of the pool and moved in a forward direction until it encounters an upright pool wall; the unit is reversed until it is a first predetermined distance from the wall, turned through a predetermined angle less than 180° and advanced until it again encounters an upright wall; these steps are repeated until the unit has encountered upright walls a predetermined number of times, after which the first predetermined distance is changed to one or more subsequent predetermined distances. All of the previous steps are repeated until all or substantially all of the pool has been cleaned. In a preferred embodiment, a rectangular pool is cleaned by setting the turning angle to 90° and the number of turns before changing the predetermined distance to seven.

Abstract: A safety circuit is described that monitors a number of sensors for intrusion of objects or people into the workspace of a robot and controls the drive power to the motion control system via an emergency-stop circuit. The system monitors the motion control system and models it as just another sensor to ensure that it is working properly. In the event that there is intrusion, the safety circuit assigns a degree of intrusion (e.g., precautionary or serious). For serious intrusions, the safety circuit kills drive power thereby preventing additional motion of the robot. Killing drive power (de-energizing the emergency-stop circuit) requires a qualified operator to restart for further operation. For precautionary intrusions, the safety circuit takes control of the motion control system by disabling the power stages of motion control amplifiers but retaining drive power there. This inhibits further motion. The safety circuit keeps the amplifiers inhibited for a period to permit the intrusion time to clear.

Abstract: Proposed is an operating unit for operating a user interface of an electrical device, the operating unit having a rotating body (1) that may rotate about an axis (9). According to the present invention, the rotating body may be tilted about an axis perpendicular to the axis of rotation.

Abstract: A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communication with an associated operator radio, where each radio may have a low power RF output signal. A robot controller may be coupled to each robot in the robot competition. A robot radio may be coupled to a respective robot and in communication with a respective robot controller and operator radio. The robot radios may have a low power RF output signal while communicating with the respective operator radios. Alternatively, the radios may be short range radios, where a distance of communication may be a maximum of approximately 500 feet.

Abstract: A system for directing robot movement in a storage library is provided, the library comprising at least one horizontal array of storage cells and at least one robot that moves along the horizontal array and can retrieve objects from and place objects into the storage cells. The system comprises a guide rail that runs along the length of the horizontal array and loops around from one end of the horizontal array to the other end. The robot may move along the guide rail in a continuous, unidirectional loop. If multiple robots are added to the library, they can be made to move in the same direction along looping guide rail, thus elimination contention among robot movements. If multiple horizontal arrays are stacked vertically within the library, the looping guide rail allows robots to loop around and return to the same level or move onto a different horizontal level.

Abstract: The invention has an object to provide a robot remote controlling apparatus that can easily and comfortably carry out operations at the finger portion operating portion and arm portion operating portion and can easily and comfortably carry out operations at other parts than at the above-described operating portions.

Abstract: The present invention is a motor controller. An encoder manipulates the motor controller in a manner that is new and novel. The encoder tracks movement of a material along an assembly line and reports the results of the tracking through electronic signals. Those electronic signals are used to manipulate the motor controller to produce unique and responsive control signals to manipulate the motors, particularly during the acceleration and deceleration of the motors. Other motor control systems have used encoders as a part of a feedback loop, but none allow encoders to exert the level of control over the motors as accomplished in the present invention.

Abstract: A force reflection system is described. A power outlet is mounted to the building structure and is connected to an electric power cable. A support frame is located in a stationary relationship relative to the building structure. A linkage mechanism has a first portion and a second portion being movable relative to the first portion. The first portion is mounted to the frame. A user interface device is secured to the second portion of the linkage mechanism. A connector is connected to the power outlet. An electric power supply link connects the connector to a supply terminal of an electric motor actuating the linkage mechanism so that the supply terminal is at a voltage level which is at least 70 percent of the voltage level of the power cable. No transformer is used but mechanisms are in place to protect a person from electrocution.

Abstract: The problem of losing throttle control when controlling an AC motor throughout transmission shifts has been solved for a finite set of discrete waveforms. The solution requires making as many discrete speed waveform tables as there are gear ratios in the transmission. Each table has speed entries appropriate for controlling acceleration and deceleration while in its selected gear ratio. In addition when a new gear ratio is selected a transition to the new table with a changed motor rpm can be done with the throttle unchanged. This provides a smooth control for both manual and automatic transmissions.

Abstract: System for controlling a positioning device, in particular actuators pertaining to machine tools, with an incremental position measuring device with output signals of the form sin &phgr;1, sin (&phgr;1±p) and a control unit converting the output signals into control signals and consequently controlling a positioning device, [lacuna] that means for mixing a correction angle &phgr;2 into the output signals are provided and connected between the position measuring device and the control unit in such a way that the output signals obtain the forms sin (&phgr;1 ±&phgr;2), sin (&phgr;1 ±&phgr;2±p) before they are converted,into control signals by the control unit.

Abstract: A motor control system that determines a number of commutation values during each control cycle of the system. Determining a plurality of commutation values provides a system with a higher frequency of commutation updates without having to increase the speed of the control cycle. This allows for a smoother operation of a motor without having to increase the speed of the control system processor.