Abstract: The motor controller system controls the respective motors of a plurality of cooperative apparatus associated with an article processing system, the article processing system for performing a plurality of functions upon an article traversing the article processing system and comprises a motor driver board having a plurality of input channels and a plurality of respective output channels. The motors are in line communication with a respective one of the output channels of the motor driver board. A programmable microprocessor is in bus communication with the driver board's input channels. A plurality of sensors are respectively mounted to each of the apparatus and in bus communication with the programmable microprocessor, the sensors being strategically located on the apparatus to provide such information to the microprocessor as article size, position and velocity information and to provide apparatus operation information.

Abstract: A mold clamping apparatus having a plurality of servomotors for drivingly rotating a ball screw as a spindle. A driven timing gear pulley is mounted on a ball nut threadedly engaged with the ball screw whereby the pulley is rotatable integrally with the nut, and driving timing gear pulleys are fixed to output shafts of the respective motors. A timing belt is wound between the driven and driving pulleys. The servomotors are driven so as to produce the same torque by means of driving circuits which respond to the same torque command generated in accordance with a signal representative of a rotational position of one of the servomotors.

Abstract: An electro-hydraulic servo-valve having a valve spool and comprising: an adjustment motor, and a control apparatus for adjusting said adjustment motor to depending on the input nominal value, wherein said adjustment motor transmits its movement directly to the valve spool of the hydraulic valve, and wherein a preferably electrically operating additional drive is provided which will be switched on in case the valve spool gets stuck so as to release the valve spool from its stuck condition.

Abstract: A numerical control unit grips a bar-shaped workpiece (18) at two points longitudinally of the workpiece by gripping members (16, 17), and rotates the gripping members synchronously by respective spindle motors (14, 15). The workpiece is subjected to turning machining by a cutter (25) while the gripping members are being synchronously rotated, and an end face of the workpiece is thereafter subjected to separate machining. The unit synchronously controls a first axis along which the first spindle motor (14) is moved in the horizontal direction and a second axis along which the second spindle motor (15) is moved in the horizontal direction in accordance with numerical information regarding the first axis in response to a synchronous control command. The first and second axes are controlled in accordance with numerical information regarding each of the first and second axes in response to an independent control command.

Abstract: A numerical control method and an apparatus therefor, in which a mold opening operation or an eject operation is performed during a metering operation so that the injection-molding cycle time is shortened. When a cooling period terminates or mold opening is completed during the metering operation, a programmable machine controller for sequentially controlling an injection-molding machine delivers information specifying a clamp axis or an eject axis, the displacement, moving speed, and moving direction of the axis, and a step feed command to a numerical control unit for controlling servomotors for axes of the injection-molding machine, through a common RAM. Pulse distribution for the clamp axis or the eject axis, based on this information, and pulse distribution for a screw rotating axis are alternately executed by a numerical control unit, which responds to the step feed command.

Abstract: A motor velocity control apparatus according to the present invention has at least one of the following is included with a servoamplifier: a current feedback gain changeover circuit; a velocity feedback gain changeover circuit; a velocity loop gain changeover circuit; a changeover circuit for a current loop amplitude and phase table storage circuit. Accordingly, the invention is well-suited for changeover control of a plurality of spindle motors of different ratings in a machine tool.

Abstract: An optical system moving apparatus having first and second driving motors, transmitting screws coupled to the first and second driving motors, and a moving table on which an optical system is mounted and which is coupled through the transmitting screws to the first and second driving motors, wherein the moving table is driven by a combined output of the first and second driving motors.

Abstract: A low-cost system for allowing manual or automatic aiming of a plurality of motor-driven devices distributed throughout an area from a common control center location. When in a manual mode, the operator may manipulate a four quadrant touch pad or a joy stick device to develop binary control signals indicative of rotational direction and the on/off state of a motor control chip associated with each of the motors. The control signals are distributed over a master bus and optionally over additional local buses to the appropriate motor control chips. In an automatic mode, the same control signals are generated to produce repetitive sweeping of the motor-driven devices through a predetermined arc.

Abstract: Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

Abstract: A linear motor system includes first and second linear motors driving a load along spaced-apart supports. A positioning table, or a portion of a machine tool, supported between the first and second linear motors includes a device for varying the position of the table or portion along an axis extending between the first and second linear motors. A single motor control system produces a motor drive signal. A proportioning device proportions the portion of the motor drive signal fed to the two motors in a proportion controlled by the position of the table or portion.

Abstract: An apparatus and method is disclosed for controlling a motor of a machine to move a member at a predetermined velocity. Specifically, a gain factor included in generating a velocity command signal to the motor is dynamically adjustable in accordance with a relationship between the actual following error of the member and the desired following error at the commanded velocity to thereby compensate for drifts in the drive system electronics. The gain factor for a plurality of members may be similarly dynamically adjusted whereby the path of an application point coupled to all the members is accurately controlled. The invention is also suitable for controlling movement of distal ends of a gantry to eliminate or reduce skewing of the gantry member.

Abstract: Modular web processing units may be physically and electrically assembled into clusters to perform various web processes (e.g. the production of paper forms such as invoices, checks, labels, etc.). Each module has a main process driver which is not directly coupled to a web drive mechanism. Rather, the web driver is program controlled so as to effect the desired web process at controlled displacement intervals along the web. Accordingly, a plurality of successive but different form lengths or depths can be accommodated as the web surface is sequentially processed. A system of such modules can be physically wheeled into position as individual units and electrically connected together by suitable umbilical cords to rapidly configure a desired overall web finishing process. Nevertheless, the entire ensemble of modules performs as though it is a unitary special purpose web processing machine with its various process stations interconnected and synchronized by an electronic "drive shaft".

Abstract: A servomechanism for a recording disk reproducing system which includes a switching device receptive of the analog error signals of a variety of servo systems for outputting the same analog error signals sequentially in a time division manner in response to sampling signals of predetermined frequency. The analog error signals passed through the switching means are converted into digital error signals and subjected to arithmetic processing. The processed digital error signals are reconverted into analog error signals and distributed to the respective controlled portions of the various servo systems in synchronism with the sampling signals. The frequency of the sampling signals is set on the basis of that of a reference signal contained in the signal read from the disk being played.

Abstract: In a system for controlling a synchronous drive system suitable for use in a machining center of the type comprising a first and second servosystems wherein it is necessary to cause the outputs of the first and second servosystems to coincide with each other, there are provided a target setter for supplying a target value to the first and second servosystems, a compensation system inputted with the difference between the outputs of the first and second servosystems, and circuit means for inputting the output of the compensation system to the second servosystem. The compensation system is constituted by one, two or three of a proportionality element, a differentiating element, and an integrating element.

Abstract: Two state machines, each active during a respective one of two complementary non-overlapping clock phases, are interlocked so that the present state of one machine determines the next state of the other machine, and vice versa.

Abstract: A robotic system includes two joints moving a common load-bearing member along a path for positioning a load. Each joint includes a linear electric motor and a feedback loop, the latter driving the motor accurately in response to a commanded position signal, and a true position signal provided by sensor apparatus disposed alongside a track of each linear motor. Cross-coupling circuitry connects with the sensor apparatus of each joint to produce signals representing differences in positional error and in speed of the joints. The signals are injected into the feedback loops of the joints to effect a shift of power between the joints to synchronize their travel. Window comparator circuitry is employed for introduction of variable gains to the feedback loops for values of positional error and velocity which are greater than reference values in a window.

Abstract: A digital servo-control system used for driving a machine with a plurality of drive shafts having a digital type multi-axis position control unit, provided in common to all of the drive shafts, for computing a torque command value for each drive shaft on the basis of a position detection value detected by a position detector provided for each drive shaft and a position command value for each drive shaft, and torque control units, respectively provided in correspondence to a plurality of motors adapted to drive the respective drive shafts, for controlling output torque of a corresponding motor in accordance with the computed torque command value.

Abstract: A spinning machine, especially a drawing frame comprising at least a pair of feed rollers provided at a fiber working portion for carding at least one sliver and for feeding said sliver to be carded and drafted, at least one first motor for driving said feed rollers, at least a pair of front rollers for drawing out and feeding said sliver just carded at the fiber working portion, at least one second motor for driving the front rollers, and an electronic rotation control unit for controlling the rotations of the two different motors so as to synchronize the rotation of the first motor with the rotation of the other motor, i.e. the second motor and to be equal to a predetermined set rotational speed ratio. With this construction according to the present invention, gear change can be dispensed with when modifying the draft rate, and the change of the draft rate can be promptly performed.

Abstract: The present invention reduces the resonance amplitude of the rotational frequency-synchronous unbalance vibration of a rotor supported by an electromagnetic bearing.To this end, the invention disposes an X-direction control servo circuit and a Y-direction control servo circuit each of which detects the deviation of the rotor from a desired position in the radial direction thereof and controls the rotor so as to be held at the desired position on the basis of the detection signal, and a tracking filter which is synchronous with the rotational frequency. Outputs from the filter are crossed to supply the Y-direction control servo circuit with the X-directional output and to supply the X-direction control servo circuit with the Y-directional output signal.

Abstract: A numerically controlled turning machine comprises a main spindle (H.sub.s) and at least two cross slides (K.sub.1,K.sub.2) each provided with a saddle (W.sub.1 and W.sub.2, respectively). Another saddle (W.sub.3) is provided at the main spindle end. The cross slide (K.sub.1) is provided in addition with a driven tail spindle (G.sub.s). The control of the machine is subdivided into a first control system which includes X-axis and Z-axis controls as well as C-axis control with positional adjustment and a second control system which does not have any C-axis control but does include X-axis and Z-axis controls.

Abstract: The cabinet of the numerical control device contains a memory, a frequency changer, an amplifier and two correcting units. A programing station with keyboard and mounted on the cabinet enables programing the memory. The control device further comprises an encoder and a DC motor. It shall be associated with a lathe mechanically controlled by cams. The encoder records the successive positions of the camshaft and transmits these informations to the memory. In accordance with these informations the latter transmits mandatory instructions to the frequency changer and to the amplifier which modify the motor speeds and, consequently, those of the spindle and of the camshaft, to an extent dictated to the memory by the keyboard. At the beginning of particular machining steps the memory can activate the correcting units thus permitting to modify the instructions of the memory in order to find out the optimal speeds after some tests.

Abstract: A precision, fully controlled, metering-blade positioning system is achieved by providing dual, precision-constructed, direct, travel-distance measuring means interconnected in a closed loop with dual, blade movement drive motors and an information/movement controller. In the preferred embodiment, the dual, direct, travel-distance measuring means are mounted independently from each other at opposite ends of the blade, thereby assuring that each end of the blade is in the precise, desired position relative to a pre-set reference position. By independently, precisely positioning each of the opposite ends of the metering blade, the user is assured that the metering blade is in the exactly desired position, and in complete, precise parallel alignment along its entire length with a co-operating roller member.

Abstract: An absolute position detecting system for a servocontrol system which has its operation controlled in accordance with a numerical control program. Resolvers 202 and absolute encoders 110 made rotatable with a servomotor 105, are set at a predetermined revolving ratio so that the absolute positions of operating axes may be detected highly accurately from the revolution outputs of the two. The detecting operations can be performed for the plural operating axes by using one detecting circuit commonly.

Abstract: A plural motor changeover control system for using a plurality of motors (1a, 1b), the power outputs of which differ, by successively switching among the motors. A conversion table (32a, 32b) corresponding to a motor designated for operation from among the plurality of motors (1a, 1b) is selected, and an amplitude command is fetched from the selected conversion table, which command corresponds to a velocity error, which is a difference between an actual velocity of the designated motor and a commanded velocity. The amplitude command is applied to the servo control circuit to control the designated motor.

Abstract: A method and apparatus for controlling a split axis servo mechanism are provided. Each of the two servo mechanisms is responsive to a single machine member motion command for effecting linear motion of a machine gantry. Velocity skewing of the servo mechanisms is corrected by modifying the gain of one of the servo mechanisms in response to the difference between the actual positions of both. The gain modification effects reduction of the magnitude of the actual position difference.

Abstract: There is disclosed a system for controlling a plurality of motors including a spindle motor of a machine tool to rotate synchronously at command speeds. The system comprises a numerical control unit for generating as positional commands trains of distributed pulses having frequencies corresponding to commanded speeds of rotation respectively for the motors, positional control feedback circuits respectively for the motors for producing speed command outputs from the trains of distributed pulses and detected signals indicative of positions of the motors, and speed control feedback circuits respectively for the motors for controlling the speed of the motors based on the speed command outputs and detected signals indicative of speeds of rotation of the motors.

Abstract: A device for controlling plural loads with phase locked loop control method by means of reference signals of different phases in order to avoid peak in electric power consumption.

Abstract: Seek drive forces coupled between head actuators in a magnetic disk storage system employing separately controllable head actuators are prevented from affecting reliable head actuator operation. For this purpose a compensating signal is derived proportional to the driving current employed in performing an actuator seek operation. This compensating signal is fed forward into the drive circuit of the other actuator so as to cause this other actuator to begin moving its heads in a direction opposite to that which would be caused by the later arriving coupled drive forces, thereby making it possible to prevent driving forces coupled between actuators from deleteriously interferring with reliable actuator operation.

Abstract: A method for controlling a multi-joint robot having redundant operating joints, wherein joint velocities are calculated for non-redundant joints with redundant joints being fixed for each of at least a portion of the combinations of the non-redundant joints excluding redundant joints capable of attaining the movement of the robot end at a command velocity specified to the robot, by inverse-coordinate-transformation from the spatial coordinate to a joint coordinate inherent to the robot, on the basis of joint angles detected by an encoder mounted on the joints of the robot and the joint velocities are averaged or nearly averaged to obtain the average value or nearly average value as a desired joint velocity for the joints. The desired joint velocity is supplied to a velocity control unit of the robot as a controlled variable.

Abstract: A light valve has a pair of rotating vanes for controlling the cross section of a light beam passing between the vanes. The vanes rotate on corresponding shafts, each controlled by its own integral motor. Separate feedback control systems produce electrical control signals to each motor for rotating each shaft independently of the other to control the desired phase angles of the vanes. In one embodiment, both motors are permanent magnet direct current servo motors in which the wound armature is an integral part of each shaft. A stationary magnetic field generated by permanent magnets is common to both motors. Power is supplied to each armature by a pair of thin, parallel, flexible, electrically conductive strips extending from an end of each shaft. The conductive strips reduce the torque on the shaft when twisted during operation. In one embodiment, the control system produces a calibrated digital control signal from a PROM representing the desired phase angles of the rotating blades.

Abstract: Disclosed is a device for regulating motion of a drive component moving along or about a follower axis in response to linear motion of a master drive driven along or about a guiding axis x. The device includes two sensors for sensing the actual displacement along or about the two axes to produce two pairs of phase-shifted timing signals defining the actual displacements about respective axes. The timing signals are applied to a regulating difference generator which includes a forward/backward counter whose output delivers the regulating difference signal. The output of the counter is coupled to the follower drive. A desired displacement signal for the guiding axis is directly applied to the master drive.

Abstract: Tools to be positioned all at once are moved from a stand-by reach toward a positioning reach by means of a rotatable shaft, and respectively positioned at their desired positions in the positioning reach after passing an origin located at a border line between the stand-by and positioning reaches. Central computer controls count pulse signals transmitted from a pulse generator synchronously rotated by the rotatable shaft, and compensate set values for the desired positions for the distance over which each tool has been moved in the stand-by reach.

Abstract: At least two movable objects are respectively driven to move by servo motors or the like in response to independent drive start signals. When each of the objects reaches a predetermined position, a sync signal associated therewith is generated. If a time lag exists between the generation of the sync signals, one of the drive start signals supplied to the servo motors is delayed by a period of time which corresponds to the time lag.

Abstract: Lift apparatus by which invalids are translated into various positions through the use of a radio-controlled mechanism operable by the invalid from the lift transport platform. Linear actuators responsive to the radio control network operate to position a rotatable vertical member upon which there is mounted a cantilevered member which is also responsive to a linear actuator. The linear actuators have extendable rams which permit the cantilevered member which supports the invalid transport platform to be positioned in any of myriad locations.

Abstract: Device for controlling a plurality of servomotors on a printing machine having a plurality of printing units with the servomotors respectively assigned to individual zones of the printing units, a control unit connected to the servomotors for switching the servomotors on and off, and a power supply for supplying operating current to the servomotors, including a current-measuring module located in a connection between the power supply and the control unit for measuring a control current corresponding to the operating current supplied to the servomotors, the current-measuring module being controllable by a microprocessor for limiting the number of operating servomotors.

Abstract: With small drive torque the motors counteract one another, with full-load output they act in the same sense upon the load, so that the backlash or play between the drive, the gearing and the load is eliminated. As the motors there are used compound motors whose armatures and shunt windings are connected in series. The series excitation currents are controlled by means of two 2-quadrant power adjustment or setting elements and the external excitation current is controlled by a 2-quadrant adjustment or setting element of small output.

Abstract: A "mode switch" is used for smoothly switching a servovalve controlled device such as an SMC press, in particular, from control under one parameter to control by another. The mode switch provides a very smooth transfer of control from displacement control between two relatively movable parts to force control to provide for controlling the force exerted by actuators acting between the two parts. The mode switch electronically tracks the signals so that when the switching is made the signals are precisely equal to prevent abrupt changes in the control signals. This smooth transfer is achieved even under active control, that is when both control signals are changing in value.

Abstract: An improved plural axis motion controller (34) is disclosed for controlling servos (14, 16) to move an object (18) such as a flame cutter along a predetermined path. A microcomputer (42) periodically reads the location of the object from position counters (56, 58) and recalculates new velocity control signals for application to the servos in order to cause the object to follow the predetermined path. The improvement is wherein the controller automatically modifies the velocity control signals so as to reduce the spurious velocity variations which the object would otherwise experience due to the nonuniform rate responses of the servos. A table of modifiers, determined during a prior calibration procedure, is stored in a calibration memory (60). The microcomputer selects an appropriate modifier for each velocity control signal in accordance with the direction and magnitude of that control signal and the servo to which it is to be directed.

Abstract: A three-dimensional tracer control system which is provided with an integration circuit for integrating the difference between a Z-axis direction displacement signal and a reference displacement signal and an adder for adding together the above-mentioned difference and the output from the integration circuit. The trace velocity in the Z-axis direction is controlled by the output from the adder, by which it is possible to perform tracing, with the Z-axis direction displacement signal and the reference displacement signal held nearly equal to each other; consequently, machining accuracy is increased.

Abstract: A method and apparatus for numerically controlling a machine tool having at least two tools which are arranged to move in unison with a constant position relationship with respect to one another, the tools being moved relative to a workpiece in accordance with absolute commands to machine a workpiece in a prescribed manner. A single current position register, comprising a section for storing X coordinates and a section for storing Z coordinates, is provided to store the current position of a first tool. Further provided are arithmetic means, responsive to a command for setting coordinates, for computing the current position of a second tool, as well as pulse distribution means.

Abstract: The controller interfaces up to two linear motors to either a manual control panel or a two channel computer. The control commands can emanate from either the computer (for both motors) or a combination of the computer (for one motor) and the linear motor (solenoid) with a lateral throw of one inch. In one mode, the controller will slew the armature back and forth at a uniform rate. In another mode, the controller will slew the armature at a commanded rate and then automatically modify the rate so that the armature will comply with periodic position commands from the computer. In a further mode, the controller will retract the armature to an initial position, clear the counters, and reset all logic. At all times, the position of either motors' armature can be read visually from the control panel and both motors' armature positions can be read from the respective computer channels.

Abstract: Apparatus for synchronizing the rotating cutter and rotating workpiece of a gear cutting machine, featuring, in one aspect, correcting synchronism errors due to the time lag between application of a command signal and a corresponding movement of the workpiece by delaying or advancing the command signal by an amount dependent on the time lag and, in another aspect, synchronizing circuits which process pulse-encoded measurements of cutter rotation and axial translation to provide a command signal for driving the workpiece.

Abstract: The exact shaft angle position synchronization of two or more ordinary synchronous induction motors is provided. One motor, serving as the master, is powered directly from a source of alternating current. Each additional motor, which may be of a different size or type, is slaved to the intrinsic rotational speed of the master through the inherent electrical speed synchronization wrought by being excited by a common alternating current power source. Each slave motor is further synchronized by this invention to attain, and subsequently hold, an exact angular shaft position relative to the master. The position of the master and each slave motor shaft position is constantly measured, thereby producing several trains of electrical pulses which are compared. When an error exists, an electrical signal is produced which acts with the a.c.

Abstract: An X-ray table base, an intermediate support mounted on the base for moving bidirectionally, and a carriage with a patient cradle on it mounted for moving bidirectionally on the support. There are individual servomotors for driving the support and cradle, respectively. Each servomotor drives an analog tachometer. The tachometer signals are compared with ramp signals. When, for example, the intermediate support nears the limit of its forward travel, its servo amplifier receives a decreasing ramp signal and the servo amplifier for the cradle motor receives a concurrent increasing ramp signal such that the support decelerates to zero velocity at a predetermined rate and the cradle accelerates to the previous constant velocity of the support at a rate that results in the cradle moving at a constant rate relative to the base.

Abstract: An electrical control system (31) for a tire building machine servicer (10) and method for controlling the position of a component material (13) emitted from the servicer (10) on a conveyor (12) includes an electrical guidance system (33) and an electrical drive tracking system (34). The electrical guidance system (33) includes two cameras (39, 40) providing pulse train output signals indicative of the position of the material edges relative to a fixed longitudinal axis (23), the number of pulses in which are counted in lateral position error counter (46) to provide an error correction signal to a conveyor position drive motor (30). The electrical drive tracking system (34) includes two encoders (81, 82) providing pulse train output signals indicative of the position of the component material (13) relative to the locus of points of an elastic material on a rotatable tire building drum (15).

Abstract: A driver for positioning the postage amount handles of a postage meter, the driver including motors which, in response to control signals from a postage computer, axially displace shafts along paths generally parallel to the paths of the postage meter handles. The shafts support actuator fingers which couple the shaft movement to the respective handles. An optical interruptor for each shaft senses various shaft positions and provides signals to the postage computer which are used in part to develop the control signals.

Abstract: The invention contemplates a micromanipulator as for the manipulation of a vitrectomy instrument, wherein a single remotely operable control means is effective through three independent spherical-coordinate servoelectric drives to selectively control the operative end of the instrument, within an operating volume defined by spherical coordinates centered at a fixed point of origin; in a vitrectomy, the fixed point of origin is illustratively the point of surgical entry through the pars plana of the eye.

Abstract: A dual motor drive for the turntable of a numerically controlled machine tool in which separate forward and reverse drive motors geared to the turntable are used for eliminating the effect of backlash. Circuitry, including amplifiers, is interposed between a source of numerical control signal and the motors for energizing the motors alternatively in the numerically controlled mode depending upon the polarity of the control signal and at a speed which depends upon the magnitude of such signal. For operation in the lathe mode, sources of auxiliary control signal of first and second polarity are provided.

Abstract: In a multi-channel recording instrument, the reference signal of each channel is floating from the ground level. Therefore, one each isolated power supply means must be provided for each channel. However, when the error signal for each channel is transmitted through a photo-coupler, the circuit after the photo-coupler can be isolated from the biasing voltage of the reference signal, and a common power supply can be used for all the stages after the photo-couplers, including servo-motor drivers, of all the channels. This reduces the size and cost of the power supplies as a whole. The non-linear character of the photo-coupler does not cause a positioning error, since the photo-coupler is in the servo-loop having a sufficiently large gain.

Abstract: Rotary positioning of an antenna is provided from a remote control apparatus using a first reversible motor at the antenna and a second reversible motor at the control. A rotary switch at the control is coupled mechanically and electrically to the control motor such that movement of the rotary switch energizes both the antenna and control motors, which have substantially identical speed characteristics. When the antenna has attained the desired position, the system de-energizes itself. Mechanical resistance to movement of the antenna is simulated by a feedback motor mechanically coupled to the control motor and electrically connected in series with the antenna motor. The system contemplates use of direct current motors and a two wire connection between the antenna and the remote control apparatus.