Abstract: System and methods of controlling a plurality of motors based on a motor motion attribute, such as rotor position, velocity, or acceleration, which simulate the properties of a mechanical differential, including a pure differential, a limited slip differential, and/or a locking differential. The method may be employed in a number of applications, including, without limitation, a paper handling system, such as an inserter, to control the nips of a pinless cutter of an inserter, and in a vehicle.

Abstract: Disclosed is a non-reaction torque drive which can be called Reaction Free Drive or suspended support comprising: a Rotor, a Stator, two gyroscopes which are placed in side two frames, two high speed electro motors which rotate the two gyroscopes, and four 24v DC magnets which are used as actuators. The Drive not only conveys the torque to the output shaft, but also it removes a large percentage of reaction torque (about 95%) and does not pass the torque to its shell and support.

Abstract: The present invention discloses a method for controlling multiple servo motors, comprising: connecting a first plurality of servo motors in series; providing a corresponding switch in the series connection path for at least every servo motor other than the last one; sequentially setting an ID to each servo motor except the last one, and turning ON the corresponding switch; and setting an ID to the last servo motor.

Abstract: A controller for a servomotor capable of improving accuracy of positioning and quality of a machined surface by switching modes of correction of a position command or the like, and reducing a shock at the time of switching. A correction amount generating section obtains a correction amount based on a value of a correction factor such as machine temperature. When the external signal is in ON state, a position command or the like is corrected by the correction amount obtained by the correction amount generating section and sent via switches. A correction amount holding section holds the correction amount obtained by the correction amount generating section. When the external signal turns to OFF state, the connection of the switches is changed so that correction is performed by the correction amount held in the correction amount holding section. When the connection of the switches is changed, the correction amount does not change rapidly, so that the machine does not suffer a shock.

Abstract: A method and a device for synchronously controlling multiple printing presses or multiple units in a printing press can reduce power consumption and improve durability of motors and motor bearings. A synchronous control device for multiple printing presses includes machine shafts of a main printing press and a sub printing press respectively provided with drive motors and is configured to synchronously control rotation of the sub printing press with respect to rotation of the main printing press. Here, drive motor brakes are attached to the respective drive motors, and drive control devices respectively configured to release synchronous control of the drive motor of the sub printing press by a stop instruction and to start the drive motor brakes of both of the printing presses are provided.

Abstract: The invention includes a system and method for generating simulated encoder outputs in a control system. An output pulse width between reference position inputs is computed, the output pulse width being based upon a difference between an updated reference position input and a previous reference position input, and upon a time interval between the reference position inputs. Next, a plurality of simulated encoder pulses is output between updates of the reference position input based upon the computed output pulse width. The output pulse is thereafter adjusted in a closed loop manner between updates of the reference position input.

Abstract: The invention provides a component feeding device where heat generation of a drive circuit is minimized and a printed board mounted with this drive circuit is miniaturized by forming an inexpensive structure using a single microcomputer and by energizing each of the servomotors only when necessary. In a component feeding unit of a dual lane type, a CPU in a microcomputer controls a start of driving of one of servomotors by energizing the servomotor through a drive circuit based on a component feeding signal for one lane outputted from a CPU of an electronic component mounting apparatus, and the CPU in the microcomputer controls one of the servomotors so that the servomotor is not energized when a component feeding signal for another lane is inputted before a predetermine time passes after a delay timer starts timekeeping when receiving a detection signal about rotation of the servomotor by a predetermined amount from an encoder detecting a rotation amount of the servomotor.

Abstract: A motor drive control device for controlling a rotational speed of a motor includes: a motor driver for rotationally driving a motor; a correction amount calculating section for detecting a rotational speed of an output of the motor in accordance with an alternate current signal outputted from an FG sensor and detecting a rotational position of a photoconductive drum, which is rotated by a rotational drive force of the motor, in accordance with a pulse outputted from an encoder; a speed controller for generating a speed control signal corresponding to a total correction amount, which is a sum of a correction amount calculated in the correction amount calculating section based on a rotational speed of the motor and a correction amount calculated based on a rotational position of the photoconductive drum, and outputting the generated speed control signal to the motor driver.

Abstract: A controller uses two Z heads, which are positioned above a reflection surface installed on the ±X ends of the upper surf ace of a table, to measure the height and tilt of the table. According to the XY position of the table, the Z heads to be used are switched from ZsR and ZsL to ZsR? and ZsL. On the switching of the heads, the controller applies a coordinate linkage method to set an initial value of the Z heads which are to be newly used. Accordingly, although the Z heads to be used are sequentially switched according the XY position of the table, measurement results of the height and the tilt of the table are stored before and after the switching, and it becomes possible to drive the table with high precision.

Abstract: Positional information of a wafer stage in a Z-axis direction and a tilt direction with respect to the XY plane (for example, a ?y direction) is measured, using a surface position measurement system, such as, for example, a Z head and the like, and the wafer stage is driven based on the measurement results. At the same time, positional information of the wafer stage is measured using an interferometer system such as, for example, a Z interferometer. When abnormality of the surface position measurement system is detected or when the wafer stage moves off from a measurement area of the surface position measurement system, drive control is switched to a drive control based on the measurement results of the interferometer system. Accordingly, the wafer stage can be driven continuously even at the time of abnormality generation in the surface position measurement system.

Abstract: A controller uses two Z heads, which are positioned above a reflection surface installed on the ±X ends of the upper surface of a wafer table, to measure the height and tilt of the wafer table. The Z head to be used is switched according to XY positions of the wafer table. On the switching of the heads, the controller applies a coordinate linkage method to set an initial value of the Z head which is to be newly used. Accordingly, although the Z head to be used is sequentially switched according the XY position of the wafer table, measurement results of the height and the tilt of the wafer table are stored before and after the switching, and it becomes possible to drive the wafer table with high precision.

Abstract: A step motor driving apparatus includes a micro control unit (MCU), a pulse generator, a first step motor driver, a second step motor driver, and a communication port. The first step motor driver is configured for driving a first step motor and connected to the MCU. The second step motor driver is configured for driving a second step motor and connected to the MCU. The MCU is connected to the second step motor driver via the pulse generator. The pulse generator is configured to supply pulse signals to the second step motor driver. The communication port is connected to the MCU. The MCU receives a corresponding command from an external control apparatus via the communication port. The MCU selectively controls the first step motor driver to drive the first step motor or controls the second step motor driver to drive the second step motor according to the command.

Abstract: The solution involves the use of two or more motors to drive a common mechanism. The single control loop includes a position sensing device coupled to only a first of the plurality of servo motors and generating a position signal. A signal comparator receives the position signal and compares the position signal with a predetermined desired position based on a desired motion profile. The difference from the actual position and the motion profile is output as a position error signal. A signal converter receives the position error signal and derives a conversion signal based on the error signal. The conversion signal is provided to a plurality of signal amplifiers, which in turn are coupled to the plurality of servo motors. The amplifiers provide power to the motors for driving the mechanical load.

Abstract: The invention applies to a vibrator comprising two pairs (A, B) of unbalanced rotors (10 to 13) driven in synchronous rotation by a first motor, and a second motor arranged to drive a phase shifter mechanism so as to adjust a phase difference between the first pair of rotors and the second pair of rotors; the system comprises: a sensor (C1) for sensing rotation of a rotor of the first pair of rotors; a sensor (C2) for sensing rotation of a rotor of the second pair of rotors, or for sensing the position of the phase shifter mechanism; means for controlling the rotation of the first motor as a function of the phase and the frequency of a force setpoint signal and as a function of the signals delivered by the sensors; and means for controlling the rotation of the second motor as a function of the phase, the frequency, and the amplitude of the force setpoint signal and as a function of the signals delivered by the sensors.

Abstract: The method for detecting any clamping malfunction of the work within the machine tool which clamps both ends of the work with clamping mechanisms 23, 24 of a pair of headstocks 19, 29, and processes the work by spinning the work through synchronous rotation of main spindles 21, 22 of the pair of headstocks by servomotors 33, 34, wherein, after clamping the both ends of the work 27 with the clamping mechanisms 23, 24 of the respective headstocks 19, 20, and while both the servomotors 33, 34 of the headstocks are in a servo-ON state, a command for a minute angle ? rotation is given to the servomotor 34 of only one of the headstocks, and at this point, any malfunction in clamping is determined when a current or torque generated within the servomotor of one or the other of the headstocks is smaller than a predetermined value.

Abstract: A motor control system for controlling a plurality of motors for moving an object in respectively different axial directions that includes a plurality of target devices, each target device including a (pulse width modulation) PWM signal generator that generates a PWM signal for driving a motor using a triangular signal, and a host device for supplying a synchronization signal to each of the target devices, wherein each target device is arranged with a corresponding motor, and each PWM signal generator resets the triangular signal in response to the synchronization signal.

Abstract: A robot controller system includes a robot including a first actuator and a second actuator, a main controller for driving the first actuator, and a sub-controller for driving the second actuator. In the main controller, an actuator controller generates first control data for the first actuator and second control data for the second actuator, a first actuator driver generates a first drive signal based on the first control data, and a first input/output unit provides the sub-controller with the second control data. In the sub-controller, a second actuator driver generates a second drive signal based on the second control data provided via a second input/output unit from the first input/output unit. The main controller receives the second drive signal via the second input/output unit and the first input/output unit from the second actuator driver and provides the second actuator with the second drive signal.

Abstract: An apparatus for use with an encoder feedback device includes a comparator, a counter, and a prediction unit. The encoder feedback device is coupled to rotate with a rotating load and operable to generate at least one feedback position signal indicative of movement of the rotating load. The comparator is operable to receive the feedback position signal and generate a first position signal including a plurality of edges based on the feedback position signal. The counter is operable to receive the first position signal and count the edges to periodically generate position values at a predetermined update interval. The prediction unit is operable to receive a position data request at a first time and predict a position of the rotating load at the first time as a function of at least a subset of the position values generated prior to the first time and a misalignment between the first time and the predetermined update interval to generate an aligned position signal.

Abstract: In a robot servo mechanism, the servo mechanism is installed within a L-shaped housing box to make dimension thereof smaller with smaller dead space thereof. In the servo mechanism, each of first and second housing box 41 and 42 of a robot servo unit has a small motor, a reduction unit and a potentiometer. Since, each of the two housing boxes 41 and 42 has L-shaped configuration, each of corresponding connection spaces 41a and 42a surrounded by one dotted chain line can be formed. First and second output shafts 41b and 42b are installed with protrusion into the connection spaces 41a and 42a, respectively. A cross-shaped coupling body 50 having a cross-type through hole formed therein is fitted around the output shaft 41b along a line indicated by an arrow and then fixed thereat by using a screw. Then, the second output shaft 42b of the second housing box 42 is inserted into the cross-shaped coupling body previously fixed at the first housing box 41.

Abstract: An encoder shaft assembly includes a drive shaft having a drive gear, and an array of encoder units each having an encoder shaft and anti-backlash gears which engage the drive gear.

Abstract: A servo controller for synchronously controlling a master driving source for driving a driving shaft and a slave driving source for driving a driven shaft, having a position control section that performs a position control based on a positional deviation which is a difference between a position command value given to the slave driving source and a feedback value detected from the slave driving source, an operational section that calculates a synchronization error which is a difference of the positional deviation between the master driving source and the slave driving source, and a correction data calculating section that calculates first correction data for correcting the positional deviation of the slave driving source.

Abstract: In the multi-shaft driving apparatus, position command pulse trains for servomotors are generated from a motor controller and supplied to motor drivers for the respective servomotors via a multichannel pulse train transmitting apparatus. The multichannel pulse train transmitting apparatus converts the position command pulse trains supplied from the motor controller 6 to serial signals in a transmission-side converter, combines the resulting serial signals as a stream signal, and supplies the signal to a reception-side converter via a serial signal transmission path composed of a pair of signal wires. In the reception-side converter, motor position command pulse trains in the form of a serial signal is returned to multichannel pulse trains in the form of a parallel signal which are supplied to the motor drivers. The number of wires between the motor controller and the motor drivers can be reduced.

Abstract: A driving apparatus for moving an object. The apparatus includes a first actuator which drives the object in X and Y directions, a second actuator which drives a reaction force counter which receives a reaction force generated when the first actuator drives the object, and a controller which calculates X- and Y-direction reaction forces and a moment reaction force on the basis of X- and Y-direction positions of the object and X- and Y-direction accelerations of the object, which are to be received by the reaction force counter when the object is driven by the first actuator, and controls the second actuator so as to cancel the reaction forces and the moment reaction force.

Abstract: A driving apparatus for moving an object. The apparatus includes a first actuator which drives the object in X and Y directions, a second actuator which drives a reaction force counter, which receives a reaction force generated when the first actuator drives the object, and a controller which calculates X- and Y-direction reaction forces and a moment reaction force on the basis of X- and Y-direction positions of the object and X- and Y-direction accelerations of the object, which are to be received by the reaction force counter when the object is driven by the first actuator, and controls the second actuator so as to cancel the reaction forces and the moment reaction force.

Abstract: The solution involves the use of two or more motors to drive a common mechanism. The single control loop includes a position sensing device coupled to only a first of the plurality of servo motors and generating a position signal. A signal comparator receives the position signal and compares the position signal with a predetermined desired position based on a desired motion profile. The difference from the actual position and the motion profile is output as a position error signal. A signal converter receives the position error signal and derives a conversion signal based on the error signal. The conversion signal is provided to a plurality of signal amplifiers, which in turn are coupled to the plurality of servo motors. The amplifiers provide power to the motors for driving the mechanical load.

Abstract: Certain exemplary embodiments comprise a system comprising a plurality of Active Front End units adapted to be electrically coupled to a direct current (DC) bus. Each of the plurality of Active Front End units can be adapted to be electrically coupled to a separate winding of a transformer of a plurality of transformers. Each of the plurality of Active Front End units can be adapted to convert alternating current (AC) voltage to a DC voltage. Each of the plurality of Active Front End units can be adapted to supply the DC voltage to the DC bus. The DC bus can be adapted to be electrically coupled to a plurality of inverters.

Abstract: First and second acceleration detectors are attached to first and second sections on a driven body, and values of accelerations ?1 and ?2 in a travel direction of the driven body are detected. On the basis of the difference or sum of the acceleration values ?1 and ?2, at least one of a position command, speed command, or current command for performing drive control of the driven body is corrected.

Abstract: The method for detecting any clamping malfunction of the work within the machine tool which clamps both ends of the work with clamping mechanisms 23, 24 of a pair of headstocks 19, 29, and processes the work by spinning the work through synchronous rotation of main spindles 21, 22 of the pair of headstocks by servomotors 33, 34, wherein, after clamping the both ends of the work 27 with the clamping mechanisms 23, 24 of the respective headstocks 19, 20, and while both the servomotors 33, 34 of the headstocks are in a servo-ON state, a command for a minute angle ? rotation is given to the servomotor 34 of only one of the headstocks, and at this point, any malfunction in clamping is determined when a current or torque generated within the servomotor of one or the other of the headstocks is smaller than a predetermined value.

Abstract: A motor control system for controlling a plurality of motors for moving an object in respectively different axial directions that includes a plurality of target devices, each target device including a (pulse width modulation) PWM signal generator that generates a PWM signal for driving a motor using a triangular signal, and a host device for supplying a synchronization signal to each of the target devices, wherein each target device is arranged with a corresponding motor, and each PWM signal generator resets the triangular signal in response to the synchronization signal.

Abstract: Provided is a motor control circuit in which the circuit structure is not complicated, which has a favorable response to the phase difference signal, and in which the signal variation caused by heat is small. This rotation control circuit of a motor includes: a PWM control circuit of the motor; a rotational speed sensor of the motor; a reference signal generation circuit 10; a phase comparing circuit; and a divider for dividing the detected rotational speed signal of the motor; wherein the phase difference between the signal from the divider and the signal based on the reference signal is sought with the phase comparing unit, and this phase difference signal is supplied to the PWM control circuit.

Abstract: Certain exemplary embodiments comprise a system comprising a plurality of Active Front End units adapted to be electrically coupled to a direct current (DC) bus. Each of the plurality of Active Front End units can be adapted to be electrically coupled to a separate winding of a transformer of a plurality of transformers. Each of the plurality of Active Front End units can be adapted to convert alternating current (AC) voltage to a DC voltage. Each of the plurality of Active Front End units can be adapted to supply the DC voltage to the DC bus. The DC bus can be adapted to be electrically coupled to a plurality of inverters.

Abstract: A method and a device for controlling a production unit in a production installation are specified, controlling referring to the controlling and monitoring of speeds of rotation or angles of rotation of individual drives (20-22) such that the movements of these are monitored in respect of a synchronous value (37) and/or a limit value (33). The monitoring in respect of the limit value (33) results in a safely limited speed of the individual drives. The monitoring in respect of the synchronous value (37) permits detection of asynchronies. The monitoring can be carried out in normal operating mode and/or in setup mode, and, in setup mode, it serves particularly to protect the operating personnel from drives (20-22) that start up suddenly or are running too fast.

Abstract: A controller for a servomotor capable of improving accuracy of positioning and quality of a machined surface by switching modes of correction of a position command or the like, and reducing a shock at the time of switching. A correction amount generating section obtains a correction amount based on a value of a correction factor such as machine temperature. When the external signal is in ON state, a position command or the like is corrected by the correction amount obtained by the correction amount generating section and sent via switches. A correction amount holding section holds the correction amount obtained by the correction amount generating section. When the external signal turns to OFF state, the connection of the switches is changed so that correction is performed by the correction amount held in the correction amount holding section. When the connection of the switches is changed, the correction amount does not change rapidly, so that the machine does not suffer a shock.

Abstract: In the multi-shaft driving apparatus, position command pulse trains for servomotors are generated from a motor controller and supplied to motor drivers for the respective servomotors via a multichannel pulse train transmitting apparatus. The multichannel pulse train transmitting apparatus converts the position command pulse trains supplied from the motor controller 6 to serial signals in a transmission-side converter, combines the resulting serial signals as a stream signal, and supplies the signal to a reception-side converter via a serial signal transmission path composed of a pair of signal wires. In the reception-side converter, motor position command pulse trains in the form of a serial signal is returned to multichannel pulse trains in the form of a parallel signal which are supplied to the motor drivers. The number of wires between the motor controller and the motor drivers can be reduced.

Abstract: A vision system and method for calibrating motion of a robot disposed in a processing system is provided. In one embodiment, a vision system for a processing system includes a camera and a calibration wafer that are positioned in a processing system. The camera is positioned on the robot and is adapted to obtain image data of the calibration wafer disposed in a predefined location within the processing system. The image data is utilized to calibrate the robots motion.

Abstract: The present invention provides a way to measure the position of an instrument that is mounted on an instrument shaft within a clutched mounting system, the instrument shaft being driven through a reduction gearbox by a motor shaft. The position of the instrument is measured as a function of the position of the motor shaft and the position of the instrument shaft, the measurement of the position of the motor shaft providing greater precision than the position of the instrument shaft. Because the mounting system is clutched, it is necessary to check at intervals whether the measurement of the motor shaft position no longer accurately represents the position of the instrument, in which case the measurement of the motor shaft position is resynchronized to the measurement of the instrument shaft.

Abstract: The invention aims to suppress or prevent the vibration that can occur due to the intervention of a low-rigidity part between detector and rotating body. An angular acceleration sensor for detecting the rotational angular acceleration of a rotating body is provided, and an angle/angular speed command value is compensated in accordance with the value of the angular acceleration.

Abstract: A drive unit for controlling a motor includes a position feedback device and a velocity noise filter. The position feedback device is operable to generate a position signal relating to a position of the motor. The velocity noise filter is coupled to the position feedback device and operable to filter the position signal over a predetermined number of samples to generate a velocity feedback signal for the motor.

Abstract: There is provided a synchronous control device for driving the same control object with two servomotors. The synchronous control device detects the physical quantity that represents the difference between the forces on the two servomotors, and, on the basis of the detected value, reduces the force that acts between the two servomotors.

Abstract: A drive unit for controlling drives of machine tools or production machines includes a signal electronics unit, a startup/diagnostic unit, and an interface between the signal electronics unit and the startup/diagnostic unit. The interface has a data line for data exchange between the signal electronics unit and the startup/diagnostic unit, and an electric power line independent of the data line. A switch can be provided that disconnects the signal electronics unit from a power mains or from an additional power supply, when a power failure is detected, and connects the signal electronics unit to the startup/diagnostic unit via the electric power line. This provides a simple and cost-effective approach for supplying electric power to the signal electronics in the event of a power failure or malfunction of the main power feed to the drive unit.

Abstract: A self-synchronous AC servo system is used for high-speed serial communication and has multiple axes control. The system includes a computer sending command to master axis drive and slave axis drive through a transmission line. The master axis drive and slave axis drive send interrupt request to the computer through the transmission line after receiving the command. Each drive will judge whether the command is for it self according to the interrupt request and stores a plurality of computer commands in queue. Each drive drives master axis motor or slave axis motor by the queued command synchronously according to a synchronous timing clock.

Abstract: A motion control system comprises control logic and a programming interface. The programming interface is configured to permit a user to specify a plurality of non-tangential path segments, and the control logic is configured to generate a plurality of additional connecting path segments substantially extending between and connecting the non-tangential path segments. The motion control system is configured to generate control signals to control operation of a plurality of motors to drive movement of a controlled element along a path defined by the non-tangential path segments and the additional connecting path segments.

Abstract: An energy management control apparatus for a molding machine that includes a first electrically-driven prime mover configured to drive at least a first molding machine device, and a second electrically-driven prime mover configured to drive at least a second molding machine device, includes a common DC link configured to provide DC energy to the first electrically-driven prime mover and to the second electrically-driven prime mover. A slave axis is configured to supply and absorb energy from to/from the common DC link.

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

Abstract: A multiple axis servo control implements a multi-tasking PWM control unit to provide PWM signals for multiple axes in a single unit. A time slice mechanism provides axis selection signals based on a system clock signal to permit control parameters of the selected axis to be processed to control the selected motor drive axis. The single unit PWM control mechanism eliminates complex and costly multiple axis networks typically associated with independent servo motor controls for each axis in a multi-axis system. A single PWM unit implementation also permits the reduction of components for closed loop current control and closed loop velocity control in the multi-axis servo control system.

Abstract: Servo control signals and data content associated with two different devices, such as a hard disc drive magnetic head and a digital video disc laser may both be processed without substantial loss of data or control signal errors using a single controller.

Abstract: A motor controller for simultaneously controlling operations of at least two system motors by pulse-width modulation. The motor controller includes a pair of switches, a pair of pulse signal generators, and a phase shifter. The switches are used for supplying driving power to the two system motors. The pulse signal generators are used for generating a pair of pulse signals respectively having predetermined duty ratios at predetermined cycles, and outputting the pulse signals to the pair of switches to turn on or off the pair of switches. The phase shifter is used for inverting, with respect to the phase of one of the two pulse signals that is generated and output by one of the two pulse signal generators, the phase of the other of the two pulse signals, which is generated and output by the other of the two pulse signal generators, by 180 degrees.

Abstract: An actuator control device includes an electrical control unit for detecting the present positions of output shafts of servo motors, and communicating with control circuits for driving the output shafts of the servo motors to target stop positions on the basis of the present positions thus detected. When it is judged that a present position of one of the output shafts thus receives is abnormal, the electrical control unit corrects the present position and transmits the corrected present position to the appropriate control circuit.

Abstract: An inverter has a measuring part that measures an operating time such as the time interval from when a command to start a specified operation by an associated system until a signal indicating the completion of the operation is received. A comparing part compares this measured operating time with a threshold value stored in a memory and an abnormal condition is reported to a host system, depending on the result of the comparison.

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