Abstract: A numerical control device for controlling rotation of a servomotor in response to numerical control data to move a movable member by a commanded feed amount at a commanded feed rate. A velocity detector detects an actual feed rate of the movable member. A register stores an allowable feed rate data. A comparator compares an allowable feed rate data from the register and an actual feed rate from the velocity detector to output an abnormal signal when the actual feed rate exceeds the allowable feed rate. The allowable feed rate data is set into the register each time the commanded feed rate is changed.

Abstract: A novel method and apparatus for dynamically monitoring the friction associated with an electromechanical system including a motor. The apparatus includes a closed loop servo with a unique filtering means in the feed forward loop for controlling the phase and magnitude of a "digital" ramp function used to drive the electromechanical system. The value of the filtered error signal outputted from the filtering means correlates with the friction in said electromechanical system.

Abstract: Driving a dividing shear to a home position after cutting a workpiece is done without oscillations at the home position. Control uses shear position feedback signal to shape nonlinearly a variable shear velocity reference signal such that no overshoot occurs. Adaptive control procedure automatically adjusts variable shear velocity reference signal to compensate for dynamic changes in cutting operation.

Abstract: A system for positioning the output shaft of a motor is disclosed having a set of terminals for receiving a predetermined count representing a desired position for the output shaft, a counter having first and second inputs, the first input being connected to the set of terminals, a count generator associated with the output shaft and connected to the second input of the counter for supplying to the counter counts dependent upon the rotation of the output shaft, and a switch connected to the motor and to the counter for energizing the motor when the counter receives a predetermined count representing the new desired position and for de-energizing the motor when the count generator supplies a number of counts equal to the predetermined counts.

Abstract: A positioning control servo uses a digital feedback control system and an analog feedback control system, both simultaneously generating control signals to a servo summing node. The digital system derives negative feedback from velocity values which are raised to any programmed exponential value according to a linear velocity profile. The analog system feedback signals provide a non-linear velocity profile and fine position adjustment and dominates control at the servo end of travel. Interface control is provided from multiplexing a single digital feedback control system with a plurality of servo systems. The interface control selects a unique velocity profile in a digital system for each particular servo system. No switching is required between the digital and analog systems because both have continuous input to the servo summing node.

Abstract: Apparatus for controlling the pulse period of pulses applied to a pulse motor in a printer is disclosed. The pulse motor is accelerated by gradually reducing the pulse period of pulses applied to the pulse motor. After the detection of return of the printing head to a certain predetermined position, the speed of pulse motor is gradually decreased down by gradually extending the pulse period of pulses applied to the motor. At the start of returning movement of the printing head, the first pulse of pulses applied to the motor has a pulse period larger than that of self-start pulse of the motor. The pulse period of the subsequent pulses is gradually reduced. At the time of stopping the pulse motor, the pulse period of pulses applied to the motor is gradually extended to decrease the speed of the pulse motor. At the moment when the pulse period is extended to a value larger than the pulse period of self-start pulse of the motor, application of pulse to the pulse motor is stopped.

Abstract: An electronically controlled thread-cutting machine comprising a pulse controlled stepping motor for driving the thread-cutting tool, sensor means for scanning an adjustable thread depth and the torque on the thread-cutting tool, said scanning means comprising a counter for determining the steps of the motor and the number of revolutions of the thread-cutting tool respectively therefrom for determining the depth of the thread, and the current consumption of the motor being used for determining the torque transmitted to the thread-cutting tool, the motor being controlled in accordance with the torque and depth of the thread by micro-processor means for reversing the motor when the torque exceeds an upper limit torque and when the desired and preselected thread depth has been attained.

Abstract: A digital servo system adapted for use in a dual mode coarse-fine servo system to control a movable member from a starting position to an at rest destination position. The digital servo generates a pulse train in response to varying space phase cyclic analog position signal A from an encoder coupled to the movable member. Each cycle of an analog position signal represents a small incremental amount of movement by the movable member. The pulse train provides a change in its state in time with the varying position signals. In the preferred embodiment, eight changes occur per cycle. The pulse train is integrated to provide a velocity signal which is compared with a command velocity signal.

Abstract: Disclosed is a control circuit of a positioning device for moving a member to be controlled to a predetermined position by using a d-c motor, in which there are used arithmetic circuit means for detecting a difference signal, to be converted to a driving signal of the motor, between the position detecting signal of the member and the reference signal of the predetermined position, and correcting circuit means coupled to the arithmetic circuit means for causing the difference signal to be small, whereby the motor is free from the hunting phenomenon.

Abstract: A controller for an auxiliary mechanism of an industrial truck includes a sensor which detects movement of the mechanism and provides signals denoting increments of that movement. A counter receives those signals and thereby provides a count denoting the position of the mechanism along its range of movement. A memory is controllable to provide one of a plurality of stored representations for comparison with the count and a comparator compares the count with a representation made available from the memory to provide a signal for controlling the movement of the mechanism. A keyboard is provided for effecting storage in the memory of representations of different positions along the mechanism's range of movement.

Abstract: The lens mount of a movie camera is automatically positioned to maintain an image of a subject in focus on a focal plane of a recording station by generating periodic range pulses having a characteristic directly related to subject range, and converting each pulse to a number which represents the focus position of the lens mount. Such number is stored in a first register whose contents vary in response to changes in subject distance at a rate dependent on the pulse repetition rate of the range pulses. The actual position of the lens mount is determined in the form of a second number which is stored in a second register whose contents vary in response to changes in the position of the lens mount at a rate determined by the rate of change of position. Rotation of a reversible motor is initiated when the contents of the registers are unequal, rotation being terminated when the contents are equal. The direction of rotation is in accordance with which of the two registers has the larger contents.

Abstract: A preprogrammed microprocessor controlled apparatus for controlling automatic wire crimping equipment. The equipment disclosed is adapted to perform, in automatic sequence, a plurality of wire crimping steps on a dynamoelectric machine such as a motor. A wide variety of crimp height settings is selectively inserted by the equipment operator to achieve optimum crimp height for each crimp step to be performed. The crimp height setting mechanism includes an eccentric cam positioned by means of a pulse operated stepper motor with correct positioning indicated by a feed back pulse train from the cam shaft position encoder which pulse train is compared with the input information established by the equipment operator. Automatic and semi-automatic sequencing modes of operation are provided as determined by input selections established by the equipment operator.

Abstract: A closed loop control system for maintaining a force transducer assembly in a balanced position is disclosed. The control system has a feedback loop control circuit for providing a force rebalance signal at one of a plurality of predetermined discrete amplitude values during each of a plurality of successive equal duration time intervals. The signal has a constant amplitude during each interval. The control circuit further provides a respective digital representation for each amplitude value of the rebalance signal for each of the successive time intervals. Thereby, a precise determination of the value of the time-force product can be generated with the concomitant determination of the forces acting upon the force responsive transducer. The control system is particularly useful for non-linear transducers, such as square law devices where the time-force product is difficult to determine with continuously variable amplitude values.

Abstract: A cutting control apparatus for cutting, by a rotary type flying cutter, a sheet, pipe or like material fed by a feeder. On the basis of a synchronous cutting length corresponding to setting of a blade speed change mechanism of the flying cutter and one of a travelling speed signal of the material and the revolving speed of a blade of the cutter, a reference speed signal is produced for the other of the material travelling speed and the blade revolving speed. One of a signal related to length-measuring pulses corresponding to the distance of travel of the material and a signal related to rotation pulses corresponding to the rotation of the blade is applied as an additive input to an adder, and the other is applied as a subtractive input to the adder.

Abstract: An encoder interface circuit is responsive to command direction signals and pulsed command incremental rotation signals and to actual direction signals and pulsed actual incremental rotation signals to generate an error signal to a motor driver for controlling the movement of a servo motor. A position encoder is mechanically coupled to the servo motor for generating the actual direction and incremental rotation signals. The interface circuit generates a reference pulse train and an error pulse train, both at a relatively high frequency. The error pulse train is phase modulated by adding or subtracting the pulsed actual and command incremental signals according to the state of the corresponding direction signals. The reference and phase modulated error pulse trains are then compared to generate the error signal to the motor driver.

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 control installation for a dental apparatus which has at least one part capable of being moved to a selected position of a plurality of positions characterized by the control installation including a drive motor for moving the part to the selected position, a clock pulse generator coupled to the drive motor creating a pulse received by a pulse counter, a read-only memory producing a nominal or reference value indication, a comparator comparing the nominal value indication with the indication of the counted pulses to produce an error signal which is applied to a switching amplifier and then to the drive motor so that the operation of the drive motor depends on the presence of the error signal with the direction of rotation of the drive motor depending upon the operational polarity of the error signal.

Abstract: A mechanical element positioning control system. Position measuring means supply actual position and a computer supplies desired position as the least significant 11 bits of an 18 bit signal to corresponding digital to analog units, each comprising an 11 bit register and an 11 bit digital to analog converter. A differential amplifier compares the outputs of the digital to analog converters and generates a position error signal. A threshold circuit operates to complement the most significant bit of the D/A registers when exceeding of a maximum allowable analog error occurs. A servo system responsive to the position error signal positions the mechanical element to eliminate difference between desired and actual position. By eliminating the seven most significant bits representing desired and actual position, the total range is divided into 2.sup.7 separate fields so that D/A units of practical accuracy may be employed to make feasible a positioning control system of required accuracy and range.

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 operational range of an adjustable focus lens is subdivided into a plurality of focus zones, of finite size, by a lens control system that produces a plurality of discrete signals representative of said focus zones, said control system utilizing bidirectional drive means to position the movable element of said lens to one of said focus zones from any position within said operational range in order to focus an image of a remote object at an image plane. The present invention optimally increases the focusing of said control system while equalizing and minimizing the focusing error introduced into said control system resulting from the use of such focus zones with bidirectional drive means, by anticipating the arrival of said movable lens element at the desired focus zone and then interrupting the driving force provided by said drive means for a limited period of time prior to the time that said lens element arrives at said desired focus zone.

Abstract: The operational range of an adjustable focus lens is subdivided into a plurality of focus zones, of finite size, by a lens control system that produces a plurality of discrete signals representative of said focus zones, said control system utilizing bidirectional drive means to position the movable element of said lens to one of said focus zones from any position within said operational range in order to focus an image of a remote object at an image plane.

Abstract: Conventional mechanical positioning in which an input member is moved in a position field which is an enlarged representation of the output position field and conventional motorized positioning in which distance is represented by time of travel are modified and combined. The result is a method, and apparatus, in which movement but not position are represented mechanically on a field which represents any portion of the output field at which the output element is positioned. Input motion and direction are converted to digital or time duration signals. The result is apparent motion of the output element along whatever line is traversed mechanically by an input element. Input motion may be introduced at variable velocity. The input is introduced much as it is in a pantograph system but, unlike the pantograph system, the field of input motion is not a reproduction of the output motion field but represents, instead, any portion of the output field.

Abstract: A servo system wherein a servo motor is continuously controlled in response to a pulse width modulated digital command signal is disclosed. A servo motor having a variable output is controlled in response to a variable amplitude error signal. A pulse code converter converts a pulse code modulated digital command signal to provide a pulse width modulated digital command signal for controlling the variable output of the servo motor. The digital command signal is provided at a predetermined frame rate in response to a frame pulse signal. A feedback transducer and network senses the variable output of the servo motor and provides a variable amplitude feedback signal that is indicative of the variable output. A synchronous pulse forming network converts the variable amplitude feedback signal to a proportional pulse width modulated digital feedback signal. The digital feedback signal is provided at the predetermined frame rate and in synchronization with the digital command signal.

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 digital servo system is described in which the error signal is multiplied up to a given maximum before its application to a D/A converter that provides control voltage for the motor, as long as the motor has not reached its final position and its velocity is greater than a predetermined amount.

Abstract: In an automatic record disk player, various information as the disk size, the position of the pickup arm, and various operation commands, is supplied as digital signals to a logic circuit, in which logical operations are carried out to control the pickup arm according to a select operation sequence. Manual operation is compatible with the automatic operation, and interruption or discontinuation of play can be achieved at any moment.

Abstract: A system for controlling the speed of a DC motor so that the material fed to a rotary cutter is successively cut to desired lengths. The speed of the rotary cutter driving DC motor is controlled in accordance with a rotary cutter speed control pattern which is determined by the relation between the length of the rotary cutter circumference and the length to which the material is to be cut. This rotary cutter speed control pattern is provided in the form of speed command signals in accordance with a function output derived by setting the length of the rotary cutter circumference, the length to which the material is to be cut and the cutting distance during which the rotary cutter speed and the material travel speed synchronize with each other. The system also accomplishes the necessary control for correcting any error caused between the speed control pattern and the actual rotary cutter speed as well as the required acceleration control of the motor in accordance with the speed control pattern.

Abstract: Robot control with programmed positioning modified by a sensor sensing position error, force or the like. To maintain flexibility, the sensor axis need not coincide with any of several degrees of freedom of the robot. To employ sensor generated signals to modify programmed positioning where sensor and robot degrees of freedom are different, a normalized correction is computed relating a sensor output to each axis of freedom. Merely multiplying sensor output with the appropriate normalized correction provides a quantity in the proper coordinates for correction or position modification, as desired. Further, the robot includes apparatus to change direction of motion under certain circumstances, i.e., a collision with an obstruction. This allows the robot to move around obstructions whose location and extent were unknown at the time of movement programming.

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: This invention relates to an object locating apparatus which can be used for locations of various objects. The apparatus comprises a laser device capable of projecting a laser beam which serves as a mark of a predetermined position of an object to be located, a mechanism for holding and moving said laser device, means for driving said mechanism so as to move said laser device, and means for numerically controlling the drive means so as to stop said laser device at a predetermined position.

Abstract: A process time control system of a digital type has a sensor associated with a motor used for driving a product through a process length and logic circuits for providing a timing pulse corresponding to a time increment for the product to traverse a small process length increment. During this timing pulse clock pulses having a high pulse repetition rate, calibrated to correspond to a predetermined time increment per process length increment, are supplied to a BCD counter and compared by a digital comparator to a BCD number representing a preselected desired process time. The comparator and associated logic gates provide a signals for causing the count of an up-down counter to be incremented either down or up, respectively, according to whatever the BCD count is greater or less, respectively, than the preselected BCD number. A clock pulse source provides slow rate incrementing pulses for this purpose.

Abstract: A closed loop control system achieves high speed operation commensurate with low resolution A/D converters which, at the same time, is capable of accepting and using higher resolution control signals. A control loop includes a differencing device for providing an error signal produced as a difference between a reference value and an output value related to the controlled parameter, D/A converter and integrator, producing an output value for device control. The feedback loop includes an A/D converter. The reference value and reference value input to the differencing device as well as the D/A converter accept digital signals of resolution greater than those produced by the A/D converter.

Abstract: An apparatus and method for controlling the velocity of a moving member like, for example, a print head carrier. The apparatus includes motor means which drives the carrier along the platen of a printer. The motor is driven by alternately energizng it during an "on" period and deenergizing it during an "off" period. A velocity detector detects the actual velocity of the carrier and a processor determines whether an overspeed or an underspeed condition exists relative to a desired velocity. A counter capable of counting pulses relative to the on and off periods receives the output of the processor and is utilized to effectively shorten or lengthen the "on" period, respectively, whenever an overspeed or underspeed condition exists.

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: Actuator for operating the arcuately moving levers of a postal meter in accordance with output signals from a computing postal scale. The actuator includes drive shoes which engage the levers and are driven along a linear path generally parallel to the arcuate path of the levers. The drive shoes are advanced and retracted by lead screws driven by stepping motors to move the levers in incremental steps. Position encoders provide signals indicative of the positions of the levers, and these signals are combined with the signals from the scale to control the operation of the actuator.

Abstract: An apparatus for controlling the speed of a rotary cutter driven by an electric motor for cutting to length a sheet material continuously supplied to the rotary cutter. Means are provided for applying to the electric motor a dc voltage whose amplitude is proportional to the rate of the number of pulses of a pulse train said pulse train being synchronous with the feed rate of the sheet material when the blades of the rotary cutter pass the cutting position, means for progressively decreasing the number of pulses of the pulse train, the decrease in the number of pulses beginning at a predetermined position beyond the cutting position and being effected at a rate following a first pattern, means for progressively lowering the rate of the decrease in accordance with a second pattern when the number by which the pulses are decreased reaches a first predetermined value, and means for suspending the decrease when the number by which the pulses are decreased reaches a second predetermined value.

Abstract: A numerical control system includes a machine tool position processing unit operated upon a power failure. The machine tool position processing unit is adapted to normally generate a present position output for each sampling time in response to an output corresponding to the absolute position of the machine tool as detected at a resolver, adapted to store and hold the absolute position data when a power supply is interrupted, and adapted to generate, when a power supply is resumed, an output corresponding to a corrected present position of the machine tool as obtained by correcting an overtravel effected by the machine tool at the power interruption time.

Abstract: A control system having a stored program digital computer for transmitting commands to digital servos for one or a plurality of punch presses; for changing new commands to correct for preceding servo errors and/or mechanical tolerance errors in the servos; for monitoring machine tool and servo condition and supervising punching, tool change and positioning operations; and having provision for assisting in the generation of coded record command tapes on the basis of incremental and/or absolute dimensional input, on a time sharing basis with automatic operation of the servos from a previously generated record tape.

Abstract: The position adjusting apparatus comprises a stationary frame, first and second movable stages respectively, disposed on X and Y axes intersecting at right angles, a plurality of dynamic type electro-mechanical transducers mounted on the axial ends of each movable stage, a first resilient supporting member for mounting the first movable stage to be movable in the direction of X axis, a second resilient supporting member mounted on the first movable stage forming the second movable stage in the direction of the Y axis, and a platform mounted on the second movable stage for supporting an object whose position is to be adjusted.

Abstract: The invention relates to an automatic positioning apparatus which is primarily adapted to control the position of a movable part of a machine tool such as a tool rest of a lathe in response to an output signal of a means for measuring the distance of travel of the movable part, and the output signal of a setting circuit on which parameters of motion of the movable part may be preset.

Abstract: An automatic inspection device is installed in a field of alignment holes, and the location of the device is shifted, by making use of the holes, by means of a control system in which addresses are assigned to the respective alignment holes, the location of the device is indicated on an objective counter in terms of the address, and a preset counter indicates the shifting direction of the device in terms of the address. In the method, instructions are given to the preset counter and they are compared with the contents of the objective counter, whereupon the device is shifted in the direction of reducing a difference resultant from the comparison. The device is provided with a detector for detection of an obstacle so as to shift the device while avoiding the obstacle.

Abstract: A circuit for controlling a graphic display printer wherein a paper sheet is wrapped about a rotating drum and maintained in place thereon by a vacuum. The length of the paper sheet is slightly longer than the circumference of the drum and thus defines a tangentially projecting flap. A sensor detects passage of the flap and in response to the initial detection, a counter is started having a cycle corresponding to one rotation of the drum. Selected states of the counter are digitally compared to the output of the flap sensor. After the rotational position of the flap has been determined twice for each of three successive drum revolutions, a paper validation signal is generated indicating that the paper is properly wrapped about and rotating with the drum. In response to the validation signal, printing is started.

Abstract: A shunt-series resistive network in which the shunt elements are switched in and out of the circuit in accordance with the individual bits of a digital binary signal and wherein the values of the various resistive elements are selected to provide a network impedance which varies as a preselected expotential function of the quantity represented by the digital signal. A non-linear converter employing this network is used in a servo circuit for driving a controlled device as a non-linear expotential function of its relative position.

Abstract: A circuit for varying the rate of velocity changes of a digital motor wherein the motor produces movement that is commanded by successive lengths with each length having an extent defined by a whole number of steps and in which each length by its extent sets its own velocity whereby non-linear velocity changes in accordance with motor speed are obtained from a command that includes just length extent information.

Abstract: Apparatus for positioning a workpiece and tool in a precise location relative to each other by positioning in a predetermined site the workpiece, and then positioning the tool in a precise predetermined positon relative to the site in minimum total time. The apparatus comprises a closed loop position and velocity sensitive servo system connected to the workpiece, the servo system including positioning apparatus for positioning the workpiece in a predetermined site. A position indicator determines the actual position of the workpiece relative to a fixed reference and emits a signal output which is compared, in an error generator, with the desired position of the workpiece relative to the reference. The difference signal, from the error generator, is applied to the positioner and is used to bring the workpiece into the site. The positioner is provided with velocity feedback which cooperates with the positioning signal from the error generator to drive the workpiece into the predetermined site.

Abstract: An apparatus for controlling the speed of a rotary cutter driven by an electro-hydraulic pulse motor for cutting to length a sheet material continuously supplied to the rotary cutter. Means are provided for applying to the electro-hydraulic pulse motor a pulse train synchronous with the feed rate of the sheet material when the blades of the rotary cutter pass the cutting position, means for progressively decreasing the number of pulses applied to the electro-hydraulic pulse motor, the decrease in the number of pulses beginning at a predetermined position beyond the cutting position and being effected at a rate following a first pattern, means for progressively lowering the rate of the decrease in accordance with a second pattern when the number by which the pulses are decreased reaches a first predetermined value, and means for suspending the decrease when the number by which the pulses are decreased reaches a second predetermined value.

Abstract: A valve operator circuit normally operates to compare the pulse rates of two trains of pulses and to step an associated valve open or closed depending on which of the two pulse rates is the higher. The circuit includes a manually-operated presetting arrangement which, when operated, causes the normal pulses to be inhibited from moving the valve, and causes the valve to move to a desired position.

Abstract: A system for controlling the spacing between a plurality of saw blades. Precise control is insured by cascading an electrical feedback system in series with a mechanical feedback system.The electrical feedback system includes a position register for recording the actual location of each saw blade, a command register for recording the desired position of each saw blade, a comparator for generating an error signal corresponding to the difference between the actual and desired saw positions, and a stepper motor responsive to the error signal. The stepper motor drives a control shaft having a shaft encoder secured thereto which feeds pulses back to increment or decrement the position register, thereby synchronizing the contents of the position register to the actual position of the stepper motor.

Abstract: A servo system to permit the lens finishing for example, corresponding to a registered pattern and permit such finishing at desired pressure, etc. for the conveniences of the easy and effective grinding and finishing, in a manner that the detectors supply to the lower and upper limit voltage comparators the detectors outputs, which are then supplied to the logic circuits as well as the outputs for the servo-driving and the outputs from flip-flops, so that the servo motor rotates in normal and/or reverse directions.

Abstract: Automatic warehouse apparatus is provided according to the present invention wherein a digital remote control system is relied upon to control the operations of a remote stacker adapted to pick-up and deposit loads at a support containing a plurality of discrete storage locations. According to one embodiment of the present invention a support containing a plurality of adjacent columns of storage locations is provided with a plurality of electrical conductors in a manner such that each of the plurality of electrical conductors has a portion from which electrical information applied to that conductor may be derived positioned in relation to an individual one of such plurality of adjacent columns of storage locations whereby one of the plurality of electrical conductors is associated with each column of storage locations.