Abstract: A spindle control system which is provided with a first motor for rotating a spindle, a second motor for positioning the spindle, a pulse generator for generating pulses proportional in number to the rotational angle of the spindle, a counter for counting the pulses from the pulse generator in order to detect the rotational position of the spindle, and circuitry response to the counter means to control positioning of the spindle by the second motor.

Abstract: Apparatus for controlling the position of a plurality of machining shafts each including a machine tool fitted thereto so as to move each machining shaft up to its given position in response to the kind of machining to be subjected to a work piece. The apparatus comprises a memory for memorizing the position of each of the machining shafts which are different from each other in dependence with the kind of machining to be subjected to the work piece and a central processing unit for reading out data showing the position of each machining shaft from the memory in succession and generating through one servo-amplifier a signal required for moving the machining shaft corresponding to each servometer to its given position.

Abstract: There is disclosed apparatus suitable for use in conjunction with film editing tables or other devices requiring precise control over shaft rotation speed, that is, apparatus for interlocking two or more shaft rotating systems to rotate one or more slave shafts in precise speed synchronism with one remote master shaft. For each slave shaft to be controlled, there is provided a differential amplifier connected in a velocity servo loop designed to force the slave shaft to rotate in precise speed synchronism with a remote or line master shaft. The primary feedback loop comprises means for generating trains of pulses having a characteristic representative of each of the rotational speeds and for deriving from these pulse trains analog voltages which are applied to a differential amplifier to produce an error signal to be driven to zero for controlling the speed of the slave shaft.

Abstract: A solid state motor control circuit for controlling the operation of a servo motor comprises a comparator circuit including a differential amplifier having its inputs connected across terminals of the motor and having its output connected to a drive circuit the output of which is connected to a supply terminal of the motor. A reference circuit maintains a reference terminal of the motor at a reference level, and in the absence of a command signal, the differential amplifier and drive circuit maintain the voltage at the motor supply terminal at the reference level. A control switch enabled by the command signal applies a control signal to an input of the differential amplifier, and the differential amplifier responsively enables the drive circuit to raise or lower the potential at the motor supply terminal relative to the reference level, thereby energizing the motor.

Abstract: Apparatus including a portable manipulator for the axial alignment of an inspection or repair device with a selected tube in a heat exchanger. The manipulator is angularly positionable about a center toward and away from an arbitrarily chosen axis and radially toward and away from the center by remotely controlled servomotors. Incorporated in the manipulator are position feedback devices whereby the manipulator is positioned to the predetermined polar coordinates of the selected tube.

Abstract: A temperature control is disclosed for a variable volume air conditioning system of the type wherein electric motor-operated air valve means are provided for varying the volume and relatively warm or relatively cool conditioned air supplied to a conditioned zone. The control includes zone thermostat means for producing an electrical error signal having a magnitude which varies in a predetermined relationship with respect to a deviation in zone temperature, and changeover circuit means for varying said predetermined relationship in order to accommodate changeover between heating and cooling, as sensed by duct temperature sensing means. The control further includes flow limit circuit means for imposing limits upon the maximum and minimum desired flow of conditioned air through the air valve means.

Abstract: A playback type of industrial robot in which displacement of a movable part is detected and a position detection signal is generated. This signal is stored in a memory, and the driving of the movable part is controlled as a function of the signal read out of the memory. The control unit for controlling the memory operation, has applied to it a teaching mode signal. The control unit has also applied to it a playback mode signal. The control unit which is responsive to the playback signal, produces a signal to result in readout of the memory and to set the drive for the movable part into an operative state.

Abstract: A rear gauge assembly includes a gauge bar extending between two carriages, each carriage being mounted to a housing mounted to the rear of a press brake bed and having a lead screw and motor associated with it. Front gauges are provided on carriages on a pair of similar housings mounted to a rail mounted to the front of a press brake bed, each of these housings also having a lead screw and motor for driving its respective carriage. A microcomputer is employed to control the two motors for synchronizing movement of the rear gauge carriages with each other while driving the rear gauge, and to control the two motors for the front gauge while the front gauges are being driven to synchronize movement of front gauges with each other. The same synchronizing techniques for two lead screws are employed on a new type of ram drive for press brakes incorporating two ram drive screws, with a motor for each screw, the motors being synchronized by the controller.

Abstract: A radio controlled guidance and speed control system for a vehicle has spaced receivers for receiving magnetic energy signals from a movable energy source. The signals received vary in accordance with the position of the receivers with respect to the energy source, and are electrically processed to control separate motors driving two wheels of the vehicle for starting, stopping and direction controlling. The circuit for processing the received signals comprises a summing amplifier for speed control, two differential amplifiers for direction control and a gate connected to the summing amplifier through a comparator to provide a stop signal. The circuit provides for a gradual acceleration of the motors. One of the receivers is connected to the gate for developing a stop signal to prevent utilization of ambiguous signals from the other signal receivers.

Abstract: A high shelf feeding apparatus is movable on rollers riding on rails. It is moved either by motor driven friction gear drive means or by a linear motor means. In either case, the drive elements are operated at the same acceleration or at the same number of revolutions by connecting each drive element with a regulating mechanism which measures the distance travelled by each drive element and then balances each such measured distance in relation to a rated value common to all regulating mechanisms.

Abstract: A device for measuring the angular position of the rotor of a synchronous motor relative to the rotating field thereof wherein the synchronous motor is driven by a frequency generator. The synchronous motor has an optoelectronic device generating a pulse for each rotation of the rotor and applied to the stop input of a counter whose start input receives from a frequency divider connected to the frequency generator and having a dividing factor equal to the number of poles of the synchronous motor. A frequency multiplier is also connected to the frequency generator and the output of the multiplier is applied to the counting-pulse input of the counter. The count registered on the counter in the interval between start and stop pulses is thus proportional to the lag of the rotor behind the rotating field.

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 control system for moving a large machine along a single axis. The control system includes first and second position loop servo systems to drive at least respective first and second motors to move respective first and second sides of the machine in the direction of the single axis. The control system is comprised of means responsive to position error signals generated by each position loop servo system for generating a difference error signal that is indicative of the difference between the actual position of each respective side of the machine along the single axis, and means for coupling the difference error signal to means for driving at least one of the motors for causing a change in movement of that motor in a direction to move each side of the machine toward the same actual position while at the same time causing the difference error signal to be reduced toward zero.

Abstract: Apparatus for generating synchronized multi-axis intermittent motion utilizing electronic encoding, memory and a servo controlled positioning system. A plurality of mechanically independent slave shafts are positioned in response to the position of a rotatable master shaft. An analog transducer is attached to the master shaft providing an analog output signal which is fed through an analog-to-digital converter. A digital representation of the master shaft position is provided by the analog-to-digital converter. The digital indication of master shaft position is fed to a plurality of independent digital memory devices each of which provides, in response, a digital position signal indicative of the desired position of an associated slave shaft. The output of each independent digital memory device is fed to a digital-to-analog converter which provides an analog output representative of the desired slave shaft position. A servo controller positions the associated slave shaft in response to the analog signal.

Abstract: Apparatus for controlling deformation of an elongate member, such as a lattice girder, comprises a torque transmitting member, such as a hollow cylindrical tube, extending for the length of the girder coaxially with its longitudinal axis and fixed at one end to one end of the girder. The cylinder is free to rotate relative to the girder at its other end and is connected by hydraulic actuators to be rotated relative to the girder in response to the measurement of rotation between the ends of the girder. The relative rotation of the tube transmits torque to the fixed end and resists deformation of the girder.

Abstract: An edit circuit for a numerical control system, in which a plurality of series of input data having a common control data are edited into a single series of data. Said circuit comprises a plurality of input means receiving input data corresponding to different objects being controlled, respectively, a plurality of A-registers storing the data from the input means, a comparator circuit comparing the data stored in the A-registers, a plurality of arithmetic circuits operating on the data in the A-registers based on the result of comparison at the comparator circuit, and a B-register combining the operated data from the arithmetic circuits into one series of data for storage therein.

Abstract: A system for controlling the movement in azimuth and elevation of a large mber of sun following solar energy collectors from a single central controller. The system utilizes servo signal generators, a modulator and a demodulator for transmitting the servo signals, and stepping motors for controlling remotely located solar collectors. The system allows precise tracking of the sun by a series of solar collectors without the necessity or expense of individualized solar trackers.

Abstract: Apparatus is disclosed for transporting and cutting film in a computer output microfilmer which includes mechanisms for transporting and cutting the film respectively, and circuitry responsive to successive sequences of pulses for controlling such mechanisms. The transport mechanism includes a pair of stepping motors having phase windings responsive to current pulses which drive the film in mutually perpendicular directions respectively. Motor control circuits responsive to the pulses are operative to switch current through these phase windings so that successive columns, each containing a plurality of frames in which images may be recorded, are disposed successively at a film gate. The shaft of the motor which transports the film in the columnar direction has an optical sensor which produces output signals corresponding to the location of the film at a reference position.

Abstract: A pair of cylinders is rotated in synchronism; each cylinder has a mark on its periphery and the marks are to be moved to angular coincidence. A train of counting pulses is derived from a train of timing pulses which controls the drive of one of the cylinders; when a signal is generated as the mark of this cylinder passes a fixed point, this counting pulse train is applied to a forward-reverse counter to make it count backwards from a reference value. As soon as the signal indicative of the passage of the mark on the other cylinder is generated, the counting pulse train is cut off and a pulse train derived from it but of stepped-down pulse frequency, is applied to the counter to make the same count forward to the reference value. During the forward counting, and until the reference value is reached again, the train of counting pulses is modified by adding or suppressing timing pulses, until the next signals from the one and the other cylinder indicate angular coincidence of the marks.

Abstract: In a process control system for machines operating according to a repetitive cycle, with a number of machine events occurring in appropriate mutual phase relationship during the cycle, transducers are employed in association with rotating parts of the machine to generate reference pulses, one at the end of each complete cycle, and a large number of marker pulses equally between consecutive reference pulses. The marker pulses drive a counter which is reset to zero by each reference pulse; and at each count increment the count is compared with he whole contents of a memory in which is stored count numbers constituting data as to the points in the machine cycle at which particular events are to commence and terminate, with output stages responsive to the comparator and the memory addressing control giving output control signals when number identity is recognized.

Abstract: A motor drive system including a direct-current motor arranged in tandem with a stepping motor. The stepping motor is energized by conventional means. The direct-current motor is energized by a constant-current drive means, which is responsive to signals from magnitude and direction sensing means. The direct-current motor and stepping motor coact to provide a controlled mechanical output.