Abstract: A motor-driven rotary actuator includes an electric drive motor adapted to be configured for providing one of a plurality of output torques. A power transmission is coupled to the drive motor and includes a rotatable output shaft and drive elements adapted to be formed of disparate materials selected for transmitting one of the output torques. An electric controller is coupled to the motor for providing rotation positioning control of the output shaft in response to digital command signals.

Abstract: An apparatus for regulating a parameter by admission of an additive into a medium comprises a control pulse generator which is dependent on the extent of deviation from the norm, and a regulating element which effects the admission of additive during the interval of generation of a control signal. The control signal generator comprises a first timing pulse generator with a constant frequency and a first counter which receives the first timing pulses from the first timing pulse generator and transmits a first counter overflow signal after receiving a predetermined number of first timing pulses. The control signal generator further comprises a second timing pulse generator whose frequency increases with decreasing deviation form the norm and which transmits second timing pulses to a second counter which transmits a second counter overflow signal after receiving a predetermined number of second timing pulses.

Abstract: The speed of a DC motor (10) is controlled by a servo which includes a digital phase lock loop. The motor drives a tachometer whose pulse (22) frequency is low relative to the frequency of a clock (21). The clock continuously drives a counter (200) whose ever increasing number content is gated to a data latch (26) upon the occurrence of each successive tachometer pulse, thus this data latch contains a first time-number of ever increasing magnitude. A second data latch (24) contains a second number. The difference in magnitude of two consecutive time-numbers is indicative of motor speed. Initially, this second number is set to contain a reference number (REF) which is equal in magnitude to the number of clock pulses which will occur between adjacent tachometer pulses when the motor is running at desired speed. A pair of limit numbers (RANGEL and RANGEH) are provided to define the upper and lower limits of servo saturation.

Abstract: A motor-driven rotary actuator includes an electric drive motor adapted to be configured for providing one of a plurality of output torques. A power transmission is coupled to the drive motor and includes a rotatable output shaft and drive elements adapted to be formed of disparate materials selected for transmitting one of the output torques. An electric controller is coupled to the motor for providing rotation positioning control of the output shaft in response to digital command signals.

Abstract: A machining system for controlling the operation of a plurality of NC machine tools with a master controller, which is provided with an operation mode selector in a machine controller of each NC machine tool, and which is suitable for efficiently machining metal molds. The machining system allows the operator to quickly respond to a change in the condition of the production site and progress the machining operation of each NC machine tool only by manipulating the operation mode selectors without changing the machining sequence registered in advance in the master controller according to the production plan.

Abstract: A control system having the structure of a loop controls the shaft angular position of a motor driving a load in the situation wherein the inertia of the load, as referred back to the rotational axis of the motor, is variable. The system includes a computer providing values of gain, damping, and inertia which are used as multiplicative factors in processing a loop error signal. The error signal is the difference between a desired motor shaft position and the actual shaft position. Parallel multiplying branches, one of which includes a derivative circuit, are utilized for forming products of error signal and the derivative thereof by the gain and damping factors provided by the computer. The products are summed and provided as a drive signal to the motor. The drive signal may also include a second derivative of the desired shaft position, and may be scaled by the computed inertia.

Abstract: A digital servo device having a servomotor with a feedback control device including a position detector. The detector detects the phase relationship among the various signals. The detector is a flip flop located between an AND gate and a differentiation circuit. The flip flop is connected to be set by a predetermined point detecting signal output from the AND gate and the flip flop is connected such that the positive and reverse direction command pulses are inhibited from being produced by locking a receiving shift register in response to an output signal from the flip flop. The feedback circuit is reset by a reset signal which comprises a differentiated output signal of the flip flop which has a pulse width wide enough for obtaining a resetting condition but not so wide that the next positive and reverse direction detecting pulses are extinguished.

Abstract: Disclosed is a numerical control method for positionally controlling a movable element of a machine tool in such a manner that numerically controlled machining is performed along a projected path obtained by projecting a programmed path, lying on a predetermined plane, onto a plane of projection inclined at a predetermined angle with respect to the first-mentioned plane. The method includes the steps of entering data specifying a programmed path on the predetermined plane, subjecting the entered data to a projective transformation in accordance with entered projection angle data to generate projective transformation data specifying the projected path, and performing an interpolation on the basis of the projective transformation data to produce an output signal indicative of the results of the interpolation, and positionally controlling the movable element on the basis of the projective transformation output signal.

Abstract: Ordinarily, an interpolator (102) executes pulse calculations on the basis of a movement command from a command tape (101), to generate the respective distributed pulses XP, YP, ZP, BP and CP of cartesian coordinate axes and spherical coordinate axes, and these pulses drive corresponding servomotors (113)-(117) through servo circuits (108)-(112). In order to keep the relative position between the nose of a tool and a workpiece unchanged in a manual operation, a tool holder is positioned in the cartesian coordinate system, whereupon manual pulses in the B-axial or C-axial direction are generated by a manual pulse generator (103). Then, the distributed pulses BP and CP are generated through the interpolator (102) and rotate the servomotors (116) and (117). The distributed pulses are simultaneously impressed on a compensation circuit (104), which calculates the compensation pulses XHP, YHP and ZHP so as to drive the servomotors with pulses obtained by adding the compensation pulses to the distributed pulses.

Abstract: A method of diagnosing a servomotor position control circuit which includes a pulse distributor for carrying out arithmetic operations for pulse distribution based on command data given by a control unit, a position detector for generating a positional pulse each time the servomotor rotates through a predetermined angular interval, an error storage unit for computing and storing the difference between the number of positional pulses generated by the position detector and the number of distributed pulses generated by the pulse distributor, and a D/A converter for converting the difference into an analog output, whereby the servomotor is controlled by the analog output from the D/A converter.

Abstract: Controller for an antenna rotator having a rotatable member on which is mounted an antenna to be rotated to various headings. Switching circuitry selectively energizes a motor in the rotator to rotate the member in either of two, opposite directions. Antenna headings are user selectable and pre-programmable, the controller including control circuitry for accepting pre-programmed headings entered from a keyboard, storing the pre-programmed headings and retrieving headings. Users can select a pre-programmed heading or enter a new heading via the keyboard, the control circuitry controlling the motor switching circuitry to rotate the antenna to the selected heading. Circuitry is also provided to energize a brake solenoid in the rotator to, in the absence of jamming or binding, release the brake.

Abstract: The specification discloses a two-directional switched driver for use either independently or in a method of controlling production processes and apparatus therefor. The driver, whether used independently or in a process controller, utilizes polarity signals and a retriggerable timer to produce separate forward and reverse output signals which may be used to drive reversible motors or two-directional actuators by way of standard switching techniques. Examples of such uses are the use of most any reversible motor, or two-directional actuators to control mechanical, pneumatic or hydraulic circuits, such actuators operated by the driver may be rotational or non-rotational in nature.

Abstract: A method and apparatus for sensing the current position of a movable element in a position control system which includes first and second control devices each having a command pulse generating means and error storage means for computing and storing an error between a number of command pulses and a number of feedback pulses indicative of an amount of motor movement. The position control system also includes a speed control circuit for driving and controlling the motor on the basis of the error in the storage means, and a switching circuit for selectively connecting the first and second control devices to the speed control circuit, the current position of the movable element being sensed by one control device when the other control device is connected to the speed control circuit.

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

Abstract: A control apparatus for machine tools is provided which comprises a pulsed digital difference detector having one input connected to a digital branch and having a second input connected to a follower drive and having an output, an adding register having its input connected to the output of the pulsed digital difference detector, an analog nominal value source having its control input connected to the output of the adding register, and an analog branch having an input connected to the analog nominal value source and having its output connected to the input of the follower drive. A drive motor for the tool provides a signal to the digital branch and a drive motor for the blank forms part of the follower drive. The drive motor for the tool is a d.c. motor coupled to a velocity pickup, and cooperating with means for withdrawing the tool and a distance pickup coupled to the drive motor for the blank.

Abstract: An extrusion drive control system for control of extrusion process machinery driven elements. A drive interface unit is adapted for use with any of a variety of drive motors and regulators. The interface unit accepts analog condition information signals from the drive motor and regulator, having any of a plurality of predetermined input characteristics, and provides corresponding digital signals having characteristics that are invariant with respect to the particular input characteristics. The interface unit has a communication channel for receiving digital control signals and for outputting digital signals indicating drive operating conditions. The low power digital circuitry and communications channel are protected from the high voltage and high power connections to the drive and drive regulator.

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

Abstract: A means to change the position of a drive unit in accordance with desired changes periodically provided as a digital value and entered in a first register, which is then decremented to zero by counting actual increments of drive unit change. Power to change the drive unit is proportional to the residual value in this register, with no power when actual change has equalled desired change. The count of actual change increments is determined from clock pulses updating a second register representing position whenever the analog equivalent of this register differs from an analog signal representing actual position.

Abstract: A numerically controlled transfer machine comprises a rotary index table having thereon a plurality of jig tables for holding workpieces, and a plurality of working units are disposed in spaced relation around the index table so that rotary indexing of the index table successively positions the jig tables opposite different ones of the working units. Each working unit includes a positioning feed mechanism for controlling the feeding and return movements of the working unit to enable a working operation to be carried out on the workpieces. Each working unit has a position detector comprised of a microswitch mounted on a slide member slidably mounted on the working unit.

Abstract: A first signal representative of the position of a movable member, such as a machine tool slide, is generated. A plurality of second signals each representative of one or more positions and one of a plurality of actuatable output switches is stored in an addressable memory. The first signal is compared with each of the plurality of second signals stored in the memory. Responsive to the comparison, the output switch represented by one of the plurality of second signals is actuated when the one or more positions represented by such one of the plurality of second signals coincides with the position represented by the first signal.

Abstract: The present invention discloses a control method, and a shift register for carrying out the control method, for use with an intermittently moving mechanism designed to automatically perform various inspections and operations with respect to a product, wherein the inspection result signals and/or operation instruction signals are placed in correspondence to a plurality of successively fed products, and wherein exterior instruction signals may be entered at suitable times, and wherein a plurality of different inspection result signals and/or operation instruction signals may be issued by a single device. These inspection result signals and operation instruction signals may or may not be shifted to other inspection and operation positions to thereby use the mechanism in a variety of modes.

Abstract: When the carriage of a machine is positioned at the reference position of the machine through coarse positioning and fine positioning, coarse positioning is first carried out so that the carriage can move in either direction according to the initial position of the carriage. The movement of the carriage is sensed by the combination of a platform mounted on the bed of the machine and a micro switch mounted on the carriage. The carriage is first moved at high speed and, when the carriage passes the reference point, it is moved at slow speed to return to the reference point. When the carriage again passes the reference position, coarse positioning finishes and fine positioning begins. In order to ensure coarse positioning in either direction and the change of direction of the carriage, a direction circuit is provided in a control unit of a numerical control system.

Abstract: A system for controllably driving a motor to place a movable element at a position indicated by a command signal from an external source produces, in response to a phase staggered incremental position signal pair, one and the other of two position pulse sequences at a time depending on an instantaneous angular velocity of the motor. Responsive to the command signal and the position pulses, a mode signal is produced to indicate a position control mode while a position error is within a predetermined range and otherwise a velocity control mode. Likewise, a signal is produced that represents at least one reference angular velocity and the position error during the respective modes. Responsive to the position pulses alone, gate pulses are produced either with two different pulse widths depending on the modes or with a single pulse width.

Abstract: A numerical control system for a machine tool having a plurality of saddles; comprising saddle discriminating means for discriminating the saddles from each other, in which saddle discriminating means the cutting work program for controlling the machine tool is described by the use of the same word addresses for each of the saddles but by adding codes for discriminating the saddles from each other at the head of the respective words indicating the same word addresses.

Abstract: In a horizontal coke oven battery with at least one coke receiving device movable along one longitudinal side of the battery and at least one coke driving device movable along an opposite longitudinal side of the battery, an apparatus for determining the relative position of the coke receiving device with respect to the coke driving device and for activating the coke driving device when its position corresponds with that of the coke receiving device, comprising, a first wheel mounted on the coke receiving device for rotation with the movement of the coke receiving device, a first angle encoder connected to the first wheel for producing a first signal corresponding to the location of the first wheel and the position of the coke receiving device along the coke oven, and an input storage in the form of a magnetic disc connected to the first angle encoder for recording and storing the signal.

Abstract: An armature winding machine of the type having a flier for winding wire onto a core is driven by a servo system, including a direct current servo motor. The servo system is under the direction of a wind sequence control mechanism. To convert command signals from the wind sequence control mechanism to motor commands usable by the servo system and to prevent wire breakage, command signals issued from the wind sequence control mechanism are modified by motor interface control circuitry which includes acceleration, deceleration, speed select and direction control circuitry.

Abstract: A method and apparatus for automatically leveling a band of fibers such as sliver, roving and the like by varying the drafting speed of a drafting mechanism responsive to variations in the thickness of the band. Analogue signals are produced by variations in the thickness of the band and are converted to digital signals for being stored in a digital register. After a period of time, corresponding with the time for conveyance of the scanned point in the sliver up to and into the draft zone, the information is read out of the storage register and converted back to an analogue signal. The analogue signal is compared with another signal representing the actual drafting speed for producing a compared signal for controlling the drafting speed.

Abstract: A microprogrammable control unit has a microprogram which comprises a plurality of command words and which is stored in a memory. The addresses of the command words are stored in an address register which is connected to the memory. The control unit also includes means, comprising decoders, for producing control signals for controlling a switching unit and multiplexers forinterrogating conditions of the switching unit. A control stage is supplied with command words to switch through a plurality of binary characters of a command word to the decoders when a given first binary character in a command word has a first binary value and which switches through a plurality of binary characters of thecommand word to selector inputs of the multiplexers when the given first binary character has a second binary value, and which switches through the command word as an address to the address register when a given second binary character in the preceding command word has a predetermined binary value.

Abstract: A method for controlling the speed of a rotary cutter to cut a continuously ed web accurately into predetermined lengths. A desired cutting length and the circumference of the rotary cutter are preset. The web speed as detected is multiplied by a coefficient equal to the cutter circumference divided by the cutting length. The resultant signal is compared with the cutter speed as detected, and, if there is any difference, the cutter speed is corrected for accurate cutting.

Abstract: In a serial printer a movable type character element such as a ball, disc or the like is rotated to present different type characters to the print position. The carrier for the type element is moved along the print line at a predetermined maximum velocity so long as it is possible to move the type element to the next character in time required to move the carrier from one print position to the next. If the type character set-up time is greater, the carrier is run at a slower speed and is then returned to the predetermined velocity for printing.

Abstract: A digital to analog resolver converter uses a digital to analog converter to convert a part of the digital input to a corresponding analog angle value. This analog angle value is applied to sine and cosine function generators which use bits of the digital input signal to select slope and intercept values for approximating the sine and cosine of the analog angle value. The outputs of these function generators are applied to an octant select circuit, which chooses the values to be used as the sine and cosine of the angle in a particular octant. Two circuits then assign the proper sign to the cosine and sine function values.

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

Abstract: A method and control apparatus are disclosed for providing incremental position regulation of industrial apparatus, and for synchronizing movement of the apparatus, where an illustration of such industrial apparatus could be a coke transfer hot car, moving along a track at the coke side of a coke oven chamber, in conjunction with the forward advancement of a pusher ram, in the direction of proceeding through a coking chamber from the pusher machine side thereof. The present method and control apparatus are characterized by generating pulses that are encoded to represent actual incremental position displacements of the pusher ram. These pulses are used in a feedback control loop for positioning and speed control for the ram, and the pulses are used by a central controller to produce signal pulses representing the desired displacement for the associated hot coke transfer car.

Abstract: A programmed pusher machine and coke guide machine are provided with interlocks, and ovens are each provided with identifying means that can be sensed by means on each of the machines, to insure that the scheduled oven in a coke oven battery is safely pushed.

Abstract: A system for controlling the position of a movable element, such as a microscope slide in one embodiment thereof, which system includes a unique high resolution digital-to-analog converter which converts a digital command signal to an analog servo input command for moving the element along an arcuate path in two orthogonal directions and for moving the element in a third orthogonal direction along a linear path. The unique digital-to-analog converter which would be broadly useful in many different applications includes means responsive to selected combinations of the most significant bits of a digital input signal for supplying equally weighted selected combinations of a reference signal and responsive to selected combinations of the least significant bits thereof for supplying binary weight selected combinations of the reference signal, the equally weighted binary weighted combinations being combined to produce the analog output signal.

Abstract: A web cutting control system controlling the speed of a rotary cutter for automatic, continuous and precise cutting of a web fed at a constant speed into predetermined lengths or on the marks on the web. Two transducers generate pulses the number of which corresponds to the web feed length and the rotating angle of the rotary cutter, respectively. Three sensors detect the marks on the web, the completion of cutting, and the arrival of the cutter blades, respectively, to control the flow of signals. A desired cutting length or the distance between the mark detection point and the point of completion of cutting is preset. A reversible counter receives the pulses from these two transducers and the difference signal between the preset value and a reference signal and performs reversible counting thereof, the result of which is used to control the speed of motor for the rotary cutter to bring its speed into synchronization with the web feed speed for accurate cutting.

Abstract: A motion control system and method that subdivides a movement into commands for sequential lengths that the system is to produce in sequential constant time intervals with each time interval having a length. Each length has an extent in steps along each axis and the difference in the number of steps between adjacent extents is limited to that which the motor's ability can accommodate. Each command directs the selection of a present extent with the quantity of a command being reduced by commanding only the difference between the present extent and the immediately prior extent. For essentially constant velocity contouring along two axes an endless sequential series of essentially constant length vectors is provided and each command for a present vector directs the selection based on the relation between it and the prior selected vector. Selection may be made from a number of series of vectors each having a different size.

Abstract: A lateral feed position system for a single slide grinder or the like wherein a wheel spindle is displaced between a sequence of preset end points. The end points are input from decade switches as position commands and compared to a current position count in a digital comparator unit. An oscillator is energized to apply up or down count signals to the comparator depending on the result of the comparison. The same signals are applied to a stepper motor. Actual displacement signals from a shaft angle encoder are compared to the position commands to advise a sequencer that the spindle is "in position" so that the next command can be input. Means are provided to adjust the actual position counts to compensate for wheel wear. Specific circuits are disclosed.

Abstract: A web cutting control system controlling the speed of a rotary cutter for automatic, continuous and precise cutting of a web fed at a constant speed into predetermined lengths or on the marks on the web. Two transducers generate pulses the number of which corresponds to the web feed length and the rotating angle of the rotary cutter, respectively. Three sensors detect the marks on the web, the completion of cutting, and the arrival of the cutter blades, respectively, to control the flow of signals. A desired cutting length or the distance between the mark detection point and the point of completion of cutting is preset. A reversible counter receives the pulses from these two transducers and the difference signal between the preset value and a reference signal and performs reversible counting thereof, the result of which is used to control the speed of motor for the rotary cutter to bring its speed into synchronization with the web feed speed for accurate cutting.