Abstract: The present invention allows easy restarting of a multiple product machining function in interrupted punch press work. An interrupted machining position is identified with a product number set on a work and a product number of a product for which machine operation is stopped or a product number of a product to be next machined is entered. When this product number is entered, a command program is modified according to a product number entered. The modified program gives machining commands from a work position for a product other than the product for which machine operation is interrupted to a punch press machine.

Abstract: A positional control apparatus capable of readily moving a movable part of an NC device in any desired direction by using a particular handle. The handle is mounted on the movable part by a holding part. When an operator gripping the handle wishes to move the movable part in the desired direction, a strength and a direction of force given to the handle are detected by force sensors, and an axial moving amount calculation means calculates the moving amount of each control axis in consideration of the strength and the direction of the force given to the handle, detected by the force sensors as a strength and a direction of an acceleration given to the movable part. By the moving amount of each control axis, obtained by the axial moving amount calculation means, the positional control of the movable part is performed.

Abstract: The present invention imports network communication concepts into a motor and/or motion control system. The motor and/or motion control system is divided into various modules. A preferred configuration includes a motor drive control module, a user command module, and a master control module. The modules are interconnected by a simple hardware bus, such as an RS-485 bus. Communication between the modules is accomplished using a time division protocol.

Abstract: An automatic vertical blind controller with memory, particularly an automatic vertical blind controller with automatic/manual operated memory for control of vertical blind turning and movement automatically by referring to a reference data in the memory representing the upper limit degree of turning/movement set up by its user, comprising an outer casing, an inner casing and a control circuit board, in which the control circuit board is composed of an infrared receiver circuit, a manual operated push button control circuit, a single-chip microprocessor, two relay motor driving circuits, a music control circuit, and a power supply; the inner casing is incorporated with two d.c.

Abstract: There are provided a position and velocity control system for producing a velocity command signal in response to a position command signal and a signal representing a current position and velocity of a servo motor, a current control system for supplying a drive current to the servo motor in response to the velocity command signal, and a communication system for transmitting data between the two systems by means of a bilateral communication line. A servo control system is thereby separated between the current control system and the position and velocity control system and connected to each other through the communication system.

Abstract: A method and apparatus are disclosed for reducing the cross-coupled movement in a member of a CNC machine caused by movement in another member of the machine through the structural dynamics of the machine. The method includes receiving the discrete position commands for a member oriented in one axis of movement for the machine, transforming the discrete position commands to attenuate frequency components that contribute to the movement coupled through the structural dynamics of the machine, and generating velocity commands from the transformed discrete position commands to control the servos that drive the members. The discrete position command transform is preferably a second order filter that implements the transfer functions of a digital notch filter and digital low pass filter. The second order filter that transforms the discrete position commands is implemented in a digital computer by state variable difference equations.

Abstract: An acceleration/deceleration control method for a numerical control device (CNC) which subjects a command value of a velocity in a tangential direction of a traveling path, which is instructed by a pre-interpolation feed command, to an acceleration/deceleration control. A command is read (S1), and an angle .theta. of a traveling direction of a tool with respect to an X axis is calculated (S2). Tangential accelerations .alpha.vx and .alpha.vy are derived based on preset maximum permissible accelerations for individual axes and the angle .theta. (S3). A smaller of the tangential accelerations .alpha.vx and .alpha.vy is set as a tangential acceleration .alpha.v (S4). The command velocity F is subjected to the acceleration/deceleration control by using the acceleration .alpha.v (S5), and then the interpolation is effected (S6). Since the tangential acceleration .alpha.

Abstract: Apparatus and method for automatically controlling the rotation of an angularly positionable antenna from one angular position to a desired new angular position. The disclosed technique provides the user with a list of destination indicia, each of which corresponds to a geographic location. The user is also provided with a selector for choosing one or more of the available destination indicia. Once the user selects a destination index, a retrieval system automatically retrieves the appropriate geographic reference location from a destination indicia table stored in memory. A calculation is then automatically performed to determine the desired angular position of the antenna with respect to an arbitrary reference angle. The antenna rotor shaft is then energized to rotate the shaft to the desired angular position.

Abstract: A drilling restart control system is for restarting an NC drilling machine for a printed wiring board or the like. A drilling data block provides for a bore diameter, a drilling position, and detection of a complete block. A host computer reads data from a storage medium and the data processing is executed. A series of drilling instructions is stored in a memory with protection against power failure. When a restarting of the drilling operation is indicated, the machining operation is reserved until the data coincides with the contents stored in the memory with protection against power outage.

Abstract: An apparatus and method for controlling brushless DC motors are provided. Velocity loop control is performed digitally to produce current commands at a high frequency loop closure interval. Commutation of field coil current is controlled in response to current commutation pattern control signals produced in response to measured relative position of the motor rotor and motor stator and a velocity average over a number of loop closure intervals. Switch control signals to control transistor switches providing current from a DC power source to the motor terminals are produced in response to the current commands, measured motor current and the commutation pattern control signals. The velocity loop control implements a selected transfer function relating velocity, the motor torque constant, and the moment of inertia of the motor and associated load. Facilities are provided for periodically adjusting velocity loop transfer function gain factors and the effective moment of inertia in response to input signals.

Abstract: A control device for a tool driving unit is disclosed wherein a tool such as a tap or a drill is controlled to be rotated and axially moved by the control device. The tool driving unit has a spindle servo motor adapted to be driven according to a spindle current command and a feed shaft servo motor adapted to be driven according to a feed shaft current command which are provided by a single microcomputer which operates as the control device. The microcomputer reads an NC program and outputs a spindle command for the spindle servo motor when performing tapping, and outputs both the spindle command and a first feed shaft command for the feed shaft servo motor when performing drilling. A thread pitch changing controller for controlling a thread pitch outputs a second feed shaft command for the feed shaft servo motor when performing tapping.

Abstract: Disclosed is a cooperative operation system for a numerical control apparatus composed of numerical control apparatuses (CNCs) used in a transfer line. Each of CNCs (10, 20) is provided with a CNC control unit (11, 21), a switching circuit (12, 22) connected to the CNC control unit (11, 21) for switching an I/O signal, a RAM (13, 23) connected to the switching circuit (12, 22) for storing the I/O signal, a programmable machine controller (PMC) (16, 26) connected to the RAM (13, 23), and a serial transfer control circuit (15, 25) connected to the RAM (13, 23) for transferring the I/O signal to the another CNC. The PMC (16) receives or transmits the I/O signal of another CNC (20) through the serial transfer control circuit (15). The CNC (10, 20) can input and output the I/O signal thereof through the transfer control circuit (15, 25) to thereby increase the signal transfer speed, and thus a cooperative operation can be carried out at a high speed.

Abstract: An active control precision damping table supported by air springs. Level displacement and vibrations of the table are detected by a sensor or sensors, and sensor outputs are fed to a variation adder which carries out an adding operation on one of the sensor outputs and an inversion signal produced by inverting the other sensor output 180 degrees. The adder outputs results of the operation to a drive circuit, which in turn outputs a drive signal to a control valve. The control valve is operable in response to the drive signal to adjust air pressure in pressure vessels of the air springs.

Abstract: In a numerical control system which controls the rotational angle of a spindle in a numerically controlled machine and tool in synchronism with the position of a feed axis based on a data table storing information for positional commands for the feed axis in correspondence with the rotational angle of the spindle, a universal purpose turning operation is effected at a higher efficiency by generating a marker pulse when a value set by counting the pulses in A- and B-phases from a spindle pulse generator has reached a pre-set value, and by controlling synchronization during synchronized operation, based on the marker pulse instead of the marker phase pulse from the spindle pulse generator.

Abstract: A current regulator phase controls a power signal to control silicon controlled rectifiers arranged in a bridge. The silicon controlled rectifiers excite a generator field of an elevator drive. Discontinuity in the generator field current, caused by the inductive load and latching and holding currents in the silicon controlled rectifiers, is detected to provide an analog discontinuity signal. The analog discontinuity signal is converted to digital form and used to dynamically alter the gain and response of the regulator.

Abstract: A digital servo system for moving a body, such as the magnetic head of a disk drive, by a distance equal to an integral multiple of a predetermined pitch includes a velocity control unit for causing the body to move at maximum acceleration to a predetermined maximum velocity during a first acceleration mode, to move at the maximum velocity during an optional first coast mode, to decelerate from the maximum velocity to an optional intermediate velocity during a first deceleration mode, to move at the intermediate velocity during an optional second coast mode, and to declerate at the maximum acceleration/deceleration rate to zero velocity during a second deceleration mode. The maximum acceleration/deceleration rate is set equal to a rational multiple of the pitch divided by the square of the sampling time of the digital servo system.

Abstract: A numerical control device for a grinding machine is equipped with a servo-motor which moves at least one of a spindle and a dresser. The spindle and/or the dresser moves relative to the dresser shaft center direction and the rotor shaft center direction. The numerical control device compensates an amount of servo lag using a target position compensation calculating circuit. A unit time target position is obtained by performing a track calculation at unit times on the basis of the amount of servo lag stored in a storage device. Feedback control of the servo motor is effected by calculating a compensated target position dependent on the unit time target position.

Abstract: A spindle drive system of a machine tool, wherein a control mode changeover section of a control unit selects one of both a speed control mode for controlling a rotational speed of a spindle through negative feedback of the rotational speed of the spindle and a position control mode for controlling a rotational position of the spindle through negative feedback of the rotational position of the spindle, and a gain changeover section changes speed loop and position loop gains to a greater value during cutting operation than during non-cutting rapid feed operation when the position control mode has been selected.

Abstract: A detection apparatus is provided which is capable of detecting an excessive position error in a servo system in an appropriate manner over a wide servomotor rotational rate region, so as to accurately and immediately determine an overload state of a servomotor and the like. A permissible maximum value of the position error is obtained by first obtaining a product of a proportional coefficient set beforehand and a maximum value of pulse distribution amounts--a number of movement command pulses distributed from a central processing unit of a numerical control unit. The pulse distribution amounts are respectively stored in a table provided in a memory. The product is then, second, divided by a position loop gain. The central processing unit then determine that an excessive position error has occurred when an actual position error read from an axis controller is greater than or equal to the permissible maximum value.

Abstract: An encoder wheel (60) is provided for monitoring a peristaltic pump (20). The encoder wheel (60) provides a plurality of equispaced sectors (62) and a reference sector (66) provided at the outer radius of the encoder wheel (60). A vane slit (68) is provide radially offset from the sectors (62,66). A pair of optical couplers (72,74) are provided to read the sectors (62,66) and the vane slit (68).

Abstract: A positioning controlling device for improving the machining accuracy of a work of a non-circular shape. A control axis is driven in accordance with an input function consisting of position instruction data corresponding to a machining shape of a work, and a response function of the position of the control axis is measured actually. Then, a transfer function of the servo system is determined from Fourier transformation of the input function and Fourier transformation of the response function, and a corrected input function with which a response function of the control axis ideally corresponds to the machining shape of the work is obtained from the transfer function. Even if the control axis is driven in accordance with the corrected input function, a response function obtained does not correspond to the ideal machining shape of the work.

Abstract: A machining data forming system for a numerical control device in which machining data are inputted through interaction with a display unit. Since the present system is provided with a machining menu for a variety of machining position patterns, it is unnecessary to obtain the center or position coordinates of the machining position patterns. As a result, the number of interactive data inputting steps can be reduced to thereby improve the program inputting efficiency.

Abstract: The turn-of-nut tightening method that is improved by determining the starting point only through measurements of the angle and time relationship to determine the linear portion of the tightening curve, which is extended to the previous free running speed point where the corresponding angle is determined as the starting angle, to which is added a fixed turning amount to control the end of the tightening. As a specific embodiment, the turning angle is chosen as the variable and measured with specific time intervals. Using fixed time intervals, time is removed as a variable. Therefore, with a simple and economical angle measuring device, such as a shaft encoder, tightening is accurately controlled.

Abstract: A numerical control device comprising a lost motion correction data calculating device having a table/function which represents the motor current of a servo motor, in a servo mechanism for servo-controlling a mechanical movable part. The motor current is detected at a given time instant, and the corresponding amount of lost motion correction is then calculated. The position error caused by the lost motion can be corrected with high accuracy.

Abstract: The invention is a servomotor control apparatus for controlling the positioning of a movable element of an industrial robot or NC machine tool. An NC unit or a robot controller detects displacement from a movable element that is to be positioned, such as a table, forms a position command regarding a servomechanism, and has a correction circuit (A) which receives quadrant data (BLF) regarding a backlash correction command. When there is a quadrant reversal for each axis of the movable element, frictional torque corresponding to the axis is stored and a torque correction command (FR) corresponding thereto is outputted. A torque command of a fully-closed loop servo system for performing control based on a fed back position detection signal is corrected by the torque correction command. The servomotor control apparatus can be applied to semi-closed loop servo system in which a backlash correction is possible, and not just to a fully-closed loop servo system.

Abstract: An improved interface arrangement between an antenna controller and one or more antennas. The interface includes a reduced number of control lines but is capable of handling complete interface requirements including control and status between the antenna controller and the antenna.

Abstract: In a method for numerical position control of motordriven shafts whose rotations are to be synchronous with one another under a certain transmission ratio a control loop is provided for each shaft. A speed setpoint, weighted with the corresponding transmission ratio, is applied as a position setpoint per unit of time simultaneously to the control loops of the respective shafts. If the actual speeds of the shafts differ from one another due to a disturbance within the controlled system, the difference between these actual speeds is used to readjust the speed and the position within the speed controlled section of one of the control loops.

Abstract: A double motor feed control system for controlling a relative linear feed motion between two objects, such as a rail and a table of a linear motion rolling contact bearing assembly. The double motor feed control system includes a first motor, a threaded feed shaft driven to rotate by the first motor, and a slider assembly threadably connected to the feed shaft. The slider assembly includes a nut which is fitted onto and in thread engagement with the feed shaft, an inner ring fixedly attached to the nut and provided with a rotor, and a motor housing rotatably supported on the rotor through a pair of ball bearings and provided with a stator in opposite arrangement with the rotor to thereby define a second motor. By controlling the direction of rotation of each of the first and second motors, the feed speed may be selectively set at a fast or slow speed.

Abstract: In a servo controlled device such as a disk drive actuator or a robot that is driven by a DC motor and must seek from one position to another position and settle at the target position in a minimum time, a deadbeat control response can effect settling in a minimum number of servo sample times with no steady state error and no ripple between sampling instants. The device design, initial conditions entering the deadbeat controlled mode and the frequency of servo samples can be used to enable deadbeat control by limiting the control current to a value that will not saturate the motor coil or exceed the linear operating range of the controlled device.

Abstract: A hybrid sample rate servo motor employing rate feedback compensation is disclosed. The system employs a shaft encoder having a predetermined resolution to provide position data which are pulses indicating the shaft has moved another resolution unit. Under high motor velocity conditions the rate compensation feedback loop is operated at a conventional constant sample rate. Under low velocity conditions, the sample rate at which the rate compensation feedback loop is operated is modified so that rate samples are taken and calculated only when new position data are available from the motor encoder. Rate quantization error is substantially reduced, thereby leading to more robust controller operation.

Abstract: A numerical control apparatus according to the invention reliably eliminates the influence on positional accuracy of static resistance and dynamic resistance, which act as disturbance upon a servo loop, when a semi-closed loop forms a servo system for positioning, by numerical control, a machine tool or the like driven by a servomotor. The numerical control apparatus has a backlash correction function and supplies the servo system with a backlash correction data BL(i) distinguished from an ordinary move command BL(i). In order to eliminate a shift from a commanded position due to the aforementioned disturbance, an offset command corresponding to frictional torque Fa in the mechanical system of the machine tool or the like is applied to the servo system as a torque correction signal FR(i) in accordance with the backlash correction data BL(i).

Abstract: A numerical control can be performed on one or more independently controllable objects on the basis of existence of such objects and the control itself is performed selectively on the axis and other objects which are not axes. Therefore, it is possible to control one to all of various objects which are to be operated simultaneously independently, by means of a single numerical control apparatus. Thus, a plurality of objects can be controlled independently from other objects, resulting in high producibility of products.

Abstract: A position control method for controlling a position of an object on a machine tool such as a lathe having a plurality of axes. The control on one of the axes is conducted in accordance with a control input signal which is generated in response to a position command signal and a state variable for each axis so as to optimize an evaluation function J, wherein the control input signal U.sub.i is generated so as to optimize the evaluation function in such a manner as to reduce path error by taking into account not only the position command signal and the state variable concerning this axes but also the position command signal and the state variable concerning another axis.

Abstract: A digital servor system can swiftly stop a moving object, having a small friction resistance to the motion, at the position where the object should stop, without vibration thereof. A velocity command generating device (3) calculates a velocity command (V.sub.cmd) based on the deviation value of a position fedback from a position command detected by a position deviation detecting device (2). A velocity deviation detecting device (5) calculates a deviation (E) of a velocity fedback from the velocity command (V.sub.cmd). A torque command generating device (6) calculates a torque command (T.sub.cmd) giving a delay processing to the deviation (E), and outputs the torque command (T.sub.cmd) to a motor driving means (7).

Abstract: The invention relates to optoelectronic instrumentation engineering and, in particular, to cutting process control systems for CNC machine tools. A control system includes an optical transducer (2) mounted on a carriage (1) of a machine tool in the zone of movement of a cutting tool (8) and made up of a laser (10), and, mounted in the path of a beam (10') of said laser (10), a narrow-field slit diaphragm (12), a reference half plane (13) arranged in the plane of an axis (15) of rotation of a workpiece (9), a Fourier lens (19), and an electronic interface unit (3). The reference half plane (13) is located on the side opposite an apex (8') of a cutting wedge of the tool (8) in relation to the workpiece (9) so as to define an optically transparent slit (16) with the profile of a surface (17) of the workpiece (9).

Abstract: A control logic system for updating physical property correlations. The difference between the calculated valve of a physical property and the laboratory value of the physical property is determined and combined with the previously determined value of the difference to obtain a new value of the correlation bias. Actuation of remote switches by the system operator allows this new value of correlation bias to pass through the control system and be "set" until an updated correlation bias is desired by the operator.

Abstract: Apparatus is provided for mechanically actuating a valve stem in response to signals generated by an electronic control. A signal means and a sensor means send signals to the electronic control in response to a desired valve stem position and a sensed valve stem position, respectively. The electronic control formulates an error signal if the sensed position is not the desired position. A motor receives a control signal in response to the error signal and drives a linkage for moving the valve stem to the desired position.

Abstract: Digitally controllable ICs or function blocks in an electronic apparatus are connected through control bus lines, and a switch device is provided for disconnecting one of the digitally controllable ICs or function blocks from the control bus so that the control bus is not disabled when that one IC is turned off or is not occupied when the IC is operating in its internal processing mode. Therefore, communication between the remaining ICs can be maintained through the control bus.

Abstract: Disclosed is a servo control system for a disk drive actuator using a bi-directional (Up/Down) Difference Counter along with a control circuit therefor which signals the counter each time a "rest position" is passed, indicating whether this passage is toward, or away-from, the destination track.

Abstract: A conversion system for a controller for an antenna rotator which includes circuitry for generating an analog signal which varies as a function of the angular position of the antenna. The conversion system includes circuitry for converting the analog signal to a corresponding first digital signal representative of the angular position of the antenna relative to a first reference heading of the antenna. The conversion system also includes storage circuitry having a prestored table of digital values of angular positions of the antenna relative to a second reference heading of the antenna and which in response to the first digital signal produces a second digital signal corresponding to one of the prestored digital values, the second digital signal thereby being representative of the angular position of the antenna relative to the second reference heading. A digital display system and controller for an antenna rotator are also disclosed.

Abstract: A method and apparatus for rotating an antenna, including a keypad is used to first program a controller for storing a plurality of individually selectable positions for the antenna, a particular key of the keypad representing a programmed position for the antenna, whereafter programming the keys of the keypad are individually depressed for commanding the controller to operate a motor driven rotator for moving the antenna in a clockwise or counterclockwise direction to the position associated with the momentarily depressed key. Also, visual indicators are arranged in a compass configuration for indicating the positioning of the antenna as it rotates, and selectively indicating the rest position of the antenna.

Abstract: In a numerical control device for machine tools, a tool path is determined for a workpiece according to the machining data, and is divided into machining units, and the amount of machining for each machining unit is calculated to set a tool feeding speed data thereby to control the tool feeding speed of the machine tool.

Abstract: A numerical control apparatus comprising a display device capable of displaying not only the configuration of a workpiece to be machined and the machining paths of machining tools relative to the workpiece but also the movement of the workpiece as a machining path of relative movement of the machining tool with respect to a stationary workpiece. The machining path of the relative movement of the machining tool is obtained based on data representing the movement of the workpiece per se.

Abstract: A magnetic field motor monitor comprises an analogue-to-digital converter arranged to provide digital representations of instantaneous values of a motor magnetic field to a digital processor. A source of clock pulses provides clock pulses for the processor. The source is synchronized to a cyclical external signal, e.g. line (mains), as follows. A timing pulse is generated after a fixed number of clock pulses and the frequency of the clock pulses provided by the source is controlled in dependence on the time difference between the occurrence of the timing pulse and a fixed phase of the cycle of the external signal.

Abstract: A method of determining an operating status of an adjusting drive of a printing machine having an electric motor drivable with varying direction of rotation, and a gear transmission arrangement includes determining a value of at least one of a torque produced by the electric motor and a variable dependent upon the torque, comparing the value with a corresponding value existing during an adjustment of the adjusting drive in a constant direction, and applying the value for a torque deviating by a given threshold value from the torque occurring during the adjustment of the adjusting drive in the constant direction as a criterion for an operating status deviating from the adjustment on the constant direction.

Abstract: The position of a rotating element is controlled by a galvanometer and a servo system. The position of the rotating element is determined by using a two-grating moire pattern. Movement of the element causes a projected scale image representing radiation reflected from the element to shift relative to a fixed grating thereby generating moire fringes. The accumulated fringes serve to measure absolute position and motion of the element. The servo digitally processes the measured position to generate several force components which are then combined to control the amount of force applied by the galvanometer to rotate the element.

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 apparatus for controlling a machine which includes a movable element and a servomotor for moving the element. The numerical control apparatus includes memory means for storing numerical data representing parameters such as amount and rate of movement of the element. The numerical data are expressed either or both in a first and second system of measurement. Codes are stored in the memory means for some of the numerical data which are expressed in the first system to define basic movements of the element. The numerical control apparatus is settable to be operable for data expressed in either the first or second system of measurement. The numerical data expressed in the second system of measurement are automatically converted into the first system when the numerical control apparatus is set to be operable for data expressed in the second system of measurement.

Abstract: A wire electrode type electrical discharge machining method in which a wire electrode is controlled by an NC device to automatically move along predetermined loci while forming an angle with respect to a workpiece which is being machined, wherein, even when a taper offset value occurring prior to an intersection of program loci is different from that after the intersection, the program can be readily executed. Wire electrode movement instruction codes and wire electrode inclination instruction codes are inputted to an NC device. The NC device then determines whether or not, with respect to the wire electrode inclination instruction codes, a wire electrode inclination before a corner is different from that after the corner. If the inclinations are different, a plurality of movement instructions are calculated and inserted between the movement instructions forming the corner. The wire electrode is then moved at the corner in accordance with the plurality of movement instructions thus calculated.

Abstract: A control system for a direct teaching/playback type robot, including a low spring constant member connected to a drive source for driving a robot element through a frictional coupling. The control system basically includes a first incremental position detector provided between the robot element and the frictional coupling for detecting the rotational position of the robot element, a second incremental position detector connected to the drive source for detecting the rotational position of the drive source, and a switch for selectively connecting the output terminals of the first and second position detectors to a drive source controller in teaching and playback modes of operation, respectively.