Abstract: A second member and a first member are applied with bias force to mechanically engage with each other at one of detent positions defining relative positions therebetween. An electric motor rotating a rotor therein when being supplied with electricity. Rotation of the rotor is transmitted to an output shaft manipulating the first member. A main controller controls the electric motor to switch the one of the plurality of detent positions. A rotor angle detecting unit detects rotor angle of the rotor. An output angle detecting unit detects output angle of the output shaft. The main controller includes a backlash calculating unit that calculates a backlash amount between the rotor and the first member in accordance with at least one of occurrence of a first region, in which change in the output angle is small with respect to change in the rotor angle, and a range of the rotor angle in the first region. The main controller incorporates the backlash amount into the control of the electric motor.

Abstract: An actuator, which allows a controller to be commonly applied to a plurality of models without requiring complicated setting operation of control parameters, and is superior in cost effectiveness, reusability and expandability, is provided. And further, a motor unit and a controller unit constituting the actuator are provided. The motor unit is equipped with a motor, a motor drive circuit and a parameter memory, which stores characteristic parameters necessary for controlling the motor. A controller unit, which is adapted so as to be detachable to the motor unit, is provided with a motor control circuit and a communication control circuit. When the controller unit is attached to the motor unit, characteristic parameters stored in the parameter memory are loaded via a communication connector, and used for setting control parameters for the motor control circuit.

Abstract: An analog amplifier performs control of a motor at the speed in proportion to a speed instruction (analog voltage) outputted from a numerical control device. The speed instruction (analog value) is converted into a digital value by an A/D converter and is then sent to a CPU. When the CPU judges that the received digital value corresponding to the speed instruction deviates from a predetermined range, the CPU stops sending out an enable signal, and sends out an emergency stop signal. As a result, the CPU stops electric power supply to the analog amplifier, and also invalidates the speed instruction sent to the analog amplifier 20, thereby performing control to make the speed of the motor become “0”.

Abstract: A system and method for controlling a fan is disclosed. In one embodiment, a fan controller is integrated in silicon and uses an embedded microcontroller to implement a digital fan control algorithm. The microcontroller may continually monitor temperature and sample the speed of the controlled fan. The speed of the fan may be compared to RPM values fitted on a desired curve that is representative of the Temperature-versus-RPM function for the given controlled fan. The fan control algorithm may be based on a PID compensator or a Ramp Rate Closed-loop controller (RRCC), which may be operated to drive the fan to the desired speed. The fan may also provide a Fan ID feedback signal to the microcontroller, which may use the Fan ID feedback signal upon system start-up to initialize the PID compensator gain settings or the RRCC parameter settings, and select the appropriate Temperature-versus-RPM function curve based on pre-determined values for the given fan.

Abstract: A semiconductor device, which is controlled based on a control signal corresponding to control data includes: a control register in which the control data is set; a sequencer which performs read control of a first control command on a nonvolatile memory in which the first control command is stored; a first command bus to which the first control command read from the nonvolatile memory is output; and a first decoder which decodes the first control command of the first command bus. The sequencer cyclically performs read control of the first control command on the nonvolatile memory, and sets the control data corresponding to the first control command in the control register each time the first decoder decodes the first control command output to the first command bus.

Abstract: A servo motor with a built-in drive circuit in which a sensor circuit portion, a drive control circuit portion, and a motor drive circuit are collectively provided on two boards, thereby achieving simplification and a reduction in the size of the circuit configuration. In the servo motor with the built-in drive circuit, the sensor circuit portion and the drive control circuit portion are formed on a sensor circuit board, and the motor drive circuit is formed on a motor drive board, thereby achieving a reduction in size.

Abstract: In a press having a plunger supported so as to be movable linearly back and forth by drive means which include at least one servomotor in combination with a rotatably supported inertia structure connected for rotation with the servomotor, the inertia structure has an inertia moment which is small enough to permit reversal of the servomotor within a stroke length of the plunger so that the stroke of the plunger is adjustable under the control of a control device connected to the servomotor for controlling its operation.

Abstract: A fan control system and method that maintains the operating temperature of computer and electronic devices or components at about a predetermined control level to minimize power consumption and audible noise. The fan control system is a programmable closed loop system including a temperature sensor, first and second fan controllers, and a fan/motor assembly including a power converter, a motor, and a fan. The first fan controller provides programmable acceleration/deceleration of the fan during an initial fan spin up, and the second fan controller runs the fan only as fast as necessary to keep the sensed temperature level of a computer device as close as possible to the predetermined control level, thereby minimizing the power consumption of the system and the audible noise of the fan.

Abstract: A device for correcting a digital estimate of an electric signal is described. The device includes a comparator that generates a current proportional to the difference between an analog estimate signal, which derives from the digital estimate, and the electric signal. The device also includes a capacitor positioned to be charged by the current, a transistor that discharges the capacitor, and a comparator that compares the voltage at the terminal of the capacitor with a reference voltage. The device also includes a controller that drives the transistor in response to the output signal of the comparator and a logic device that generates a correction digital signal to be added to or subtracted from the digital estimate of the electric signal in correspondence of an ascending or descending waveform of the electric signal.

Abstract: An electric motor has a stator and an external rotor (40). Its external rotor (40) has a sensor magnet (54) having a plurality SP of sensor poles (55). The motor also has: at least one rotor position sensor (42, 44) for generating a rotor position signal and a rotor position evaluation arrangement for generating an absolute value for the rotor position, which apparatus comprises an A/D converter (144) having a resolution of at least two bits, the at least one rotor position sensor (42, 44) being connected to the A/D converter. In order to enable obtaining different digital values, even at rotational positions within the angle range of one sensor pole, each analog rotor position sensor signal is converted by the A/D converter into a digital value having at least two bits.

Abstract: An interrupt signal is generated at each of rising timings of PWM signals which are produced on the basis of phase-shifted triangular wave carrier signals for phases, and voltage command values for the phases. At timings of the interrupt signals, A/D conversion of motor currents of the phases detected by a shunt is started. Interrupt signals are also produced at timings of valleys of the triangular wave carrier signals. Additionally, peak interrupt signals and valley interrupt signals are respectively produced at timings of peaks and valleys of triangular wave carrier signals for phases. Based on each of the peak interrupt signals, normality/abnormality of a switching element of an upper side of the phase corresponding to the interrupt signal is checked, and, based on each of the valley interrupt signals, normality/abnormality of a switching element of a lower side of the phase corresponding to the interrupt signal is checked.

Abstract: An auto-adjusting electric rear-view mirror includes at least two driving mechanisms for driving the rear-view mirror to deflect. The driving mechanisms are respectively coupled to servo control circuits that are further connected to sensor members. The servo control circuits are also coupled to a master control circuit that is further connected to an external controller. The sensor members can sense a positional variation of the rear-view mirror and send a feedback signal to the servo control circuits. The servo control circuits compare a signal from input ports thereof with the feedback signal, and output a control signal to the driving mechanisms according to the comparison result to drive position or negative rotation of the driving mechanisms, such that the rear-view mirror would automatically adjust its view angle to ensure driving safety.

Abstract: A Hard Disk Drive VCM positioning servo loop comprises an oversampling bitstream Digital to Analog converter. The oversampling DAC is a sigma-delta converter which yields higher resolution and lower noise than Nyquist-rate DACs. This allows driving the VCM with finer level of current control for higher track density. This approach can be implemented in the VCM driver chip (“combo chip”) or in the microprocessor device either in hardware or in software, reducing significantly the development and manufacturing cost. Furthermore this approach can be utilized in combination with a VCM actuation method known as “voltage mode drive” wherein the output of the sigma-delta converter represents the voltage to be applied directly to the VCM actuator. Furthermore this approach can be utilized for optical data storage motor positioning servo loops or any other motor positioning servo loops where high dynamic and resolution is needed.

Abstract: A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1 proportional to command velocity obtained by differentiating a position command and compensation amount Q2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1 and Q2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient ? to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor.

Abstract: A data table stored in a numerical controller associates motors controlled by the numerical controller with information from sensors used by the motors. When the numerical controller is turned on, the contents of the data table are sent from the numerical control section to the motor control section. The motor control section controls each motor by using information from the sensors associated with the motor in the data table.

Abstract: A servo control device comprises a current supply unit for supplying a drive unit with a drive current for driving a target to be controlled, a first detector for detecting at least the drive current value, and a logical arithmetic section. The logical arithmetic section introduces a current command determining the drive current for controlling the drive speed of the drive unit to move the target to a predetermined position, and introduces the drive current value fed back from the first detector. The logical arithmetic section outputs the current command to the current supply unit after converting the current command by a digital logic process on the basis of the drive current value by using a custom LSI.

Abstract: The invention relates to a fan arrangement comprising a radial or diagonal fan (370) with which a direct current motor (32) is associated as drive motor, further comprising a digital control element (23, 24) such as a microcontroller or microprocessor, associated with that direct current motor (32), and comprising a program, associated with that digital control element (23, 24), for controlling the current flowing through the direct current motor (32), which program is embodied to generate a substantially constant current in the motor (32) in the working rotation speed range of the fan.

Abstract: In a motor control device controlling a motor by a state feedback control, high control accuracy is maintained regardless of fluctuations in a motor load so as to improve control performance of the state feedback control. A control signal (manipulation amount) outputted from a feedback calculator for controlling the motor is compared to a manipulation threshold set to a manipulation threshold setting register so as to determine the magnitude of a load amount of the motor. The feedback calculator includes an observer and performs the state feedback control of the motor. When the load amount is in normal level, a normal load observer matrix set in an observer table is selected to configure a normal load observer. When the load amount is increased, a high load observer matrix is selected to configure a high load observer.

Abstract: When a signal level of a motor brush switching signal is low and thus dropouts or omission of the pulse signals converted by a waveform shaping part take place, so that an interval between a pulse signal to be currently counted and an immediately preceding pulse signal thereof becomes longer than a predetermined average interval, a pulse signal counter makes a correction of the number of counts by adding one pulse to the pulse to be counted. Therefore, even if the signal level of the motor brush switching signals generated from a vertical motion motor M2 is low for some reasons, accurate control can be exercised over the number of rotations of the vertical motion motor M2.

Abstract: The invention concerns a method of regulating the current in a direct current machine with which are associated an arrangement for generating a current target value signal, as well as a PWM generator (FIG.

Abstract: The invention relates to a computer-controlled electronically commutated motor (ECM) and to an improved method for processing data therein. The computer's program executes the steps of: a) defining, in recurrent steps, the rotor position region in which a current pulse is to flow through the at least one winding phase, and the duration (TCurr) of that current pulse; b) sensing, in recurrent steps, the rotation-speed-dependent time period (TPP) required by the rotor to pass through a predetermined rotation angle range; c) monitoring the ratio between that rotation-speed-dependent time period (TPP) and the duration (Tcurr) of the current pulses; and d) as a function of the magnitude of that ratio, choosing a time to perform, in the computer, at least one predetermined calculation, either during (Flag_Fct_Within=1) the duration (TCurr) of a current pulse or in a time span outside (Flag_Fct_Within=0) a current pulse.

Abstract: A processor for controlling a sensorless, brushless DC motor is disclosed comprising a first output for providing a control signal to a potentiometer controlling the speed and voltage of the DC motor. The processor also includes a second input for receiving a back-EMF voltage from an open phase of a three phase winding. The processor determines a digital error signal from the back-EMF voltage and generates a control signal responsive to the digital error signal. The control signal decreases the speed of the motor when the digital error signal is in a first range. The processor decreases both the speed and voltage of the motor when the digital error signal is in a second range. The processor increases the speed of the motor when the digital error signal is in a third range. The processor increases both the speed and voltage of the motor when the digital error signal is in a fourth range.

Abstract: A numerical control apparatus for controlling a machine having two moving shafts placed in parallel and separate servomotors 6 and 10 for driving one of the shafts as a master shaft and the other as a slave shaft in the same direction and performing return to origin of the above-mentioned master shaft and the slave shaft according to a dog technique. The numerical control apparatus comprises position determination module determining the positional relationship as to whether or not the master shaft is ahead of the slave shaft, and return-to-origin management module performing return to origin of the master shaft and the slave shaft with one dog based on the determined positional relationship, so that the return to origin of the master shaft and the slave shaft can be performed with one dog. Moreover, the return to origin can be performed reliably at parallel positions.

Abstract: An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to-grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground.

Abstract: In a motor drive device having a plurality of driver units for driving motors and a command generator for giving a command to the driver units which are connected in serial communication, there is a communication section for setting up the communication formats corresponding to each of the driver units having different communication formats including data transmission speed from one another. Communication among the plurality of driver units with the respective communication formats and the command generator is carried out on a single serial bus.

Abstract: The aim of the invention is to compensate for the position-dependent length changes caused by the effect of weight in a variety of closed kinematic chains (K1 . . . Kn), for connecting a stationary first element (E1) to a movable second element (E2). Said aim is achieved, by using a back transformation (??1), which determines a compensation value for each length change (dq1, dq2 . . . dqn), resulting from the application of the weight (Fg) impinging on the movable element (E2) in each kinematic chain.

Abstract: A pulse count motor control device that connects to a central control unit through a first interface and to at least one motor through a second interface. A microprocessor integrated into the motor control device then allows it to directly monitor and drive the motor or motors in accordance with pulse count technology methods.

Abstract: Disclosed is a method of driving a servo motor with a built-in drive circuit in which a common rectifying circuit is provided on a distribution board to which a plurality of the servo motors with built-in drive circuits are connected, to thereby achieve a reduction in size of each servo motor. In this method, there is used a common distribution board for distributing power to be supplied to a plurality of servo motors with built-in drive circuits and for distributing a communication line, an external communication signal and external input power are supplied through the distribution board.

Abstract: A system may include a tachometer reading unit and a PWM (Pulse Width Modulated) signal generator configured to generate a PWM signal. The tachometer reading unit may be configured to obtain a tachometer reading from a tachometer signal generated by a device powered by the PWM signal. The tachometer reading unit includes a register configured to store a value indicative of a maximum stretching duration. The tachometer reading unit is configured to update the register in response to receiving a new value of the maximum stretching duration. The tachometer reading unit may be configured to control the PWM signal generator to stretch a pulse in the PWM signal and to not stretch the pulse longer than the maximum stretching duration indicated by the register. The tachometer reading unit is configured to obtain the tachometer reading during the stretched pulse in the PWM signal.

Abstract: A programmable limit switch includes output channels for receiving position data, each position value of the position data representing an incremental advance of a workpiece through a production field, and for producing actuation signals. The channels are connectable to respective output devices responsive to the respective actuation signals and located in the field. Each output channel has an output controller, which is individually programmable to change the state of respective actuation signals in response to reaching selected position values. Preferably, the PLS includes input connectors coupled to a respective channel and connectable to respective input devices located within the production field. Each channel operates its own inputs and outputs according to a variety of programmed functions depending upon system conditions seen by the output controller.

Abstract: A configurable motor controller includes solid state switches for connection between an AC line and motor terminals for controlling application of AC power to the motor. A control circuit controls operation of the solid state switches. The control circuit comprises a programmed processor for commanding operation of the solid state switches. A memory is connected to the programmed processor storing configuration information relating to operation of the solid state switches. A user configuration device selects the values for the stored configuration information. The configuration information comprises adjustable values within a range. The configuration device is adapted to select any adjustable value within the range.

Abstract: A reference variable having a linear relationship with the angular position of a master axis is set, and a correspondence between this reference variable and the displacement of a slave axis is stored in a data table. One execution stage is specified by setting a starting reference variable and an ending reference variable from this data table. A desired sequence is assigned to a plurality of execution stages thus specified. The reference variable corresponding to the angular position of the master axis is determined, slave axis displacement data corresponding to the reference variable is read out, and the slave axis is positioned in accordance with the position of the master axis on the basis of this displacement data.

Abstract: A system and method to simulate and evaluate management algorithms of a panel or mobile window, activated by an electric motor, with anti-crushing security and a program for its execution. It includes a modular structure integrating a series of models representative of the electric parameters of the electric motor, mobile panel performance, incidence of a possible obstacle and an activation and control methodology implemented by means of a sequential state machine related to starting, stopping and/or motor displacement direction according to position and panel displacement direction and a module to evaluate an algorithm to be validated on introducing the current supplied to the motor and its angular speed and which analyzes said values and its temporary evolution and combinations between some or other values. Said models and modules are implemented in a high level programming language.

Abstract: A non-invasive apparatus and method for measuring the speed of a rotating device that includes a sensor that measures a dynamic characteristic of the rotating device. A sample of the signal is transformed from the time domain into a frequency spectrum. The frequency spectrum is then analyzed to determine the motor speed. The resulting motor speed can be combined with other motor data by an order analysis to identify malfunctioning or improperly installed components.

Abstract: A longer life, low cost tool and tool holder enabling change of posture with respect to a spindle, having a high machining accuracy of a workpiece, and resistant to generation of vibration or heat, provided with a working tool for processing a workpiece, a motor having an output shaft to which the working tool is connected and rotating the working tool, a first holder for holding the working tool and the motor, a mount attached to the spindle, a generator to which rotational force is transmitted from the spindle through the mount and generating electric power for driving the motor, a second holder for holding the mount rotatably, holding the generator, and engaged with a nonrotating portion of the machine tool, and a posture adjustment mechanism which connects the first holder and the second holder and is able to change the posture of the working tool with respect to the spindle.

Abstract: The excitation of an oscillation in a mechanical system, such as a machine element, subjected to a jerk can be suppressed or at least attenuated by rounding a corresponding jerk curve and/or by tuning the stop band of a bandstop filter to the characteristic frequencies of the mechanical system or machine element. In combination, both measures can improve the positioning accuracy while at the same time minimizing excitation of oscillations.

Abstract: A motion control system comprises a motion unit having a motor connected to an encoder and an amplifier. The motion control system further comprises a scalable motion controller connected to the motion unit wherein the scalable motion controller receives signals from the encoder and outputs signals to the amplifier. The scalable motion controller comprises a plurality of dip sockets arranged for inserting and removing one or more motion control processors and a connector interface comprising a plurality of male and female connectors arranged for stacking a plurality of motion controllers.

Abstract: An apparatus for controlling a driving speed of a motor comprises a motor controller provided in the motor controlling apparatus detecting the motor driving speed in response to pulses outputted from an encoder. The motor controller adjusts a detection period for the pulses according to the motor driving speed, thereby measuring the motor driving speed. The motor controller sets the detection period so that a number of four-multiplied pulses can be a multiple of four. Although a phase difference between pulses outputted from an encoder is not constant, the motor controlling apparatus can obtain a desired response characteristic by excluding effects of a phase error between the pulses.

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: 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: 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: A method for generating nominal position values for a position control loop of a numerically continuous-path controlled machine. The method includes presetting nominal position values with a defined interpolator clock rate, digitally filtering the preset nominal position values and transmitting the digitally filtered nominal position values to a position control loop, which with them controls motion of a machine on a path curve at a defined position control clock rate. Adjusting the digitally filtering nominal position values as a function of dynamic characteristics of the machine and adjusting an interpolator clock rate as a function of the dynamic characteristics of the machine.

Abstract: In a method for controlling a servomotor in an injection molding machine having a servo amplifier which outputs a driving current 16 according to a command signal 15 transmitted from a control device 1 and a servomotor 8 having an encoder 9 which is driven by the driving current 16, the encoder 9 transmits angular displacement data 13, 14 to the encoder 9 according to a request command supplied from the control device 1. The control device transmits a command signal 15 calculated based on the received angular displacement data 14 to the servo amplifier 6.

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 bicycle control apparatus includes a bicycle component control unit having one of a control transmitter and a control receiver; a computer control unit having the other one of the control transmitter and the control receiver; and a transmission path coupled to the bicycle component control unit and to the computer control unit. The control transmitter communicates both power and data to the control receiver over the transmission path.

Abstract: A positional control system wherein the position of the controlled object connected to a drive is controlled to a variable target or desired position. A period is determined which starts with a detection of a reversal in the direction of the feed of a positional command Pr as well as the detection of a stoppage of a table 104 as a controlled object and which ends with a detection of the re-start of the movement of the table 104. During the period, a correction amount for correcting a positional deviation E is issued.

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: The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive.

Abstract: The servo control method operates a set value of a first-order lag time constant of a feedback compensation by both a detected mechanical position value and a transfer function corresponding to a change of an angular velocity about each axis under a multiple-axes simultaneous control. Further, the servo control method sets a feedforward amount so that the transfer function about the each axis is the same.