Abstract: A control unit is communicatively coupled to multiple variable frequency drives. The control unit includes a controller, and each variable frequency drive may have a respective controller. The controller of the control unit may be communicatively coupled to each variable frequency drive controller and manage and/or configure the multiple variable frequency drives by sending instructions and/or receiving information from the variable frequency drive controllers. In some embodiments, the control unit may be implemented as a part of a mobile computing device, such that the controller may wirelessly and communicatively couple to each variable frequency drive controller. In this manner, managing or changing settings and/or control parameters of multiple variable frequency drives may be performed via a single control unit, avoiding the tedious, repetitive, and inefficient process of using multiple control units.

Abstract: A remote control robot system includes a master arm, and a slave arm having a plurality of control modes of an automatic mode in which the slave arm operates based on a prestored task program and a manual mode in which the slave arm operates based on manipulation of an operator received by the master arm. The master arm includes one or more motors configured to drive joints of the master arm, and a motor actuator configured to generate a torque instruction value that operates the joints according to an external force applied to the master arm and gives drive current corresponding to the torque instruction value to the motor. The motor actuator generates, when the control mode is the manual mode, the torque instruction value so that the joints operate according to the external force while resisting a frictional force of the motor.

Abstract: Various methods and apparatuses are provided for calibrating a three-axis IMU sensor package using a single-axis rate table. In one embodiment, a method includes adjusting an x-axis position of a sensor by rotating an inner assembly along the circumference of the inner surface of the circular frame, adjusting a y-axis position of the sensor by rotating a portion of the inner assembly, spinning the single-axis rate table to generate z-axis rotation of the apparatus which results in simultaneous stimulation of all three axes of the sensor assembly, and obtaining measurements from the sensor corresponding to the x-axis position, the y-axis position, and the z-axis rotation of the apparatus.

Abstract: A system with an apparatus that moves on wheels along a track defined by rails, and comprises two opposite sides carried by two or more wheels. The apparatus comprises detectors, at least one detector in either side of the apparatus in a known spatial connection with a wheel for generating to the control unit a signal that represents a measured lateral distance of a specific part of the wheel from a rail. Signals received from detectors are associated with position data that represents a specific position along the track where the lateral distance of the specific part of the wheel from the rail was measured. Signals received from detectors in spatial connection with wheels in opposite sides of the apparatus are used to generate an indication that represents temporal dimensional compatibility of the apparatus and the track. An effective tool for advanced monitoring interoperability of the apparatus and the track.

Abstract: A system and method are disclosed, which can detect and process a position of at least one storage space device moving a bulk material. A first storage space device can have a gantry having two gantry legs, each of the two gantry legs supported on a linearly displaceable foot element. The system can include at least one first non-contact distance sensor, which is fitted on one of the two foot elements to measure a first relative distance between the one foot element and a first fixed reference point. A second non-contact distance sensor is fitted to the other of the two foot elements in order to measure a second relative distance between the other foot element and a second fixed reference point, and an evaluation unit is configured to determine rotation of the first storage space device about a central vertical axis and control the movement of the foot elements.

Abstract: A wireless torque measurement system includes a rotor, a rotor antenna, rotor electronics, a signal processing module, and a single ear antenna. The rotor antenna is attached to the rotor. The rotor electronics are attached to the rotor, and are configured to generate signals that indicate an amount of strain in the rotor and to transmit, via the rotor antenna, digital data representative thereof. The signal processing module is configured to generate signals that provide power and data to the rotor electronics module and process the digital data transmitted by the rotor electronics. The single ear stator is antenna coupled to the signal processing module and is configured to be inductively coupled to the rotor antenna.

Abstract: A manipulator, in particular a small robot, has at least two motor mutually movable limbs with a motion axis of both limbs being acted on by an axle drive that has an external rotor motor, a position transmitter and a transmission. The transmission has at least one planetary gear set with a center gear and at least one planet meshing with it that also meshes with a ring gear and is mounted on a planet carrier. One of both limbs of the manipulators is torque proof connected with the ring gear and is mounted by this radial and/or axially, and the other is torque proof connected by both limbs of the manipulator with the planet carrier and is mounted by this radial and/or axially.

Abstract: A motor control architecture is provided that simultaneously controls multiple motors. The motor control system includes memory, a plurality of motor control processors, and a communication controller. The motor control processors are each responsive to control signals supplied from the communication controller to selectively retrieve system commands and motor positions from the memory, to generate motor commands, and to supply the generated motor commands to the memory. The communication controller selectively receives system commands and transmits the received system commands to the memory, selectively supplies the command signals to selected ones of the motor control processors, selectively receives motor positions from a plurality of motors, selectively transmits motor positions to the memory, selectively retrieves generated motor commands supplied to the memory, and selectively transmits the retrieved motor commands.

Abstract: A motor driving control method in which when the steering angular velocity is lower than a predetermined reference angular velocity, an actual motor drive current is inferred from a back electromotive voltage and an applying voltage in a three-phase brushless motor, and a limitation on the peak level of each of three-phase alternating current command waves is mitigated by permitting the interval between a pair of intersection points of a peak area of each of the three-phase alternating current command waves with a peak point neighborhood of a triangle wave to become approximately the same length as a dead time.

Abstract: A wireless signal transmission device for a DC brushless ceiling fan motor that includes a wireless signal transmission device to receive and transmit a signal to a controlling unit, and the controlling unit transmits the control signal to the motor via an electric wire. A wireless signal-transmitting device is installed above the motor. The signal-transmitting device detects the position of the motor and transmits a wireless signal to a signal receiving device, which then transmits the signal to the controlling unit, which further transmits the controlling signal to the motor via of the electric wire, for the purpose of controlling the rotation of the motor. Due to the fact that the signal is transmitted wirelessly, it is not necessary to use any destructive process such as drilling a hole on the body of the ceiling fan, and thus the rigidity and the strength of the components are preserved.

Abstract: A motor driving control method in which when the steering angular velocity is lower than a predetermined reference angular velocity, an actual motor drive current is inferred from a back electromotive voltage and an applying voltage in a three-phase brushless motor, and a limitation on the peak level of each of three-phase alternating current command waves is mitigated by permitting the interval between a pair of intersection points of a peak area of each of the three-phase alternating current command waves with a peak point neighborhood of a triangle wave to become approximately the same length as a dead time.

Abstract: In a method for mounting a plurality of multishaft servo-amplifier modules, each of which has an identical shape and an identical function to each other and carries semiconductor power elements, on a multishaft servo-amplifier for driving motors, a plurality of multishaft servo-amplifier modules (1) through (6) are mounted on both the surfaces of a multishaft interface substrate (7) as a base plate in parallel with the surfaces of the substrate (7) to constitute a multishaft servo-amplifier function unit for a host controller.

Abstract: A remote robot control method using a three-dimensional pointing procedure and a robot control system using the remote robot control method. The robot control system controls a robot in response to a user's gesture or sign without modifying the structure of the robot. The remote robot control method includes measuring a distance between a remote controller and a robot, calculating an initial position of the remote controller in an inertial navigation frame of the remote controller, calculating an initial position of the robot in the navigation frame of the remote controller, calculating an origin of the inertial navigation frame of the remote controller shown in an inertial navigation frame of the robot, calculating a new position of the remote controller in the inertial navigation frame of the remote controller, and calculating a new position of the robot in the navigation frame of the robot.

Abstract: An ‘interval’ in which the synchronization status between the movable axes subject to synchronous control is monitored, an equation between the movable axes in the ‘interval’, and an ‘allowable displacement’ for the positional relationship obtained with this equation and the actual positional relationship are set in advance. The ‘start condition’ and ‘termination condition’ for synchronous status verification processing are set with the master position and the like. When the start condition for synchronous status verification processing is satisfied, it is detected whether or not the actual position and the position obtained with the equation are within the range of the allowable displacement based on the position of the movable axes. If not within the range of the allowable displacement, operation set as ‘operation to be executed when the allowable displacement is exceeded’ is executed.

Abstract: A workpiece is rotated by a master motor and a tool is linearly moved by a slave motor to cut a thread in the workpiece. Position feedback of the master motor is multiplied by a coefficient K and the result used as the position command of the slave motor. Provision is made of an angle synchronization learning control unit for storing one pattern cycle's worth of the correction data of the threading and adding the same to the position deviation. This control unit stores one pattern cycle's worth of the correction data corresponding to the position feedback of the master motor. The position is converted to the correction data corresponding to the time at that time based on the stored correction data to find the correction data and this is added to the position deviation.

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: 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: A communication apparatus and method provides communication in a controller of an industrial machine which is not affected by disconnection of cables, external electrical noise, nor complicated lead-around cable work. Communication between a numerical control device, as a main control unit, and servo amplifiers, as drive control units servo motors of a machine tool, is performed by way of infrared communication. The communication may take the form of input/output voltage commands, i.e. PWM commands, and feedback signals. By way of the infrared communication, lead-around cable operation, disconnection, and external electrical noises are eliminated, while simplifying machine tool layout design.

Abstract: A motor driving system comprises a plurality of motor driving control units each for controlling a motor and a controller for issuing a control command to a motor driving control unit. The controller and each of the motor driving control units have communication interfaces for infrared communications capable of transreceiving the signals. A loop communication using infrared rays is executed between the controller and one of the motor driving control units and also among the motor driving control units.

Abstract: The invention relates to a control system (1) for light regulating devices such as blinds or shades. The control system comprises a control unit (6, 6') for connecting to a motor drive (7) of a light regulating device. The control unit comprises a first input (18) for receiving motor control data along a data supply line (9, 9"). A second input (17, 26, 26') is provided for receiving decentralized user commands for altering the position of the light regulating device. The control system is characterized in that the control unit (6, 6'), by means of an external command input (25') can be set into either a slave mode in which data can only be received or into a master mode in which data can be received and transmitted along the data supply line (9, 9'). Hereby any light regulating device can be selected as a master device for controlling the blinds in the same group. Preferably the command input of the control unit comprises a manually operatable switch such as a dip switch.

Abstract: The present invention relates to a system for coupling at least two control columns (2A, 2B) of a control device (DC) of a machine, especially an aircraft. The coupling system includes for each of the columns (2A, 2B), at least one operating member (13A, 13B, 14A, 14B) capable of making the column (2A, 2B) tilt about an axis, and a calculation unit (CAL) receiving information relating to the position of tilt of the columns (2A, 2B) and generating, when at least one of the columns (2A, 2B) is operated, tilt commands which are transmitted to the operating member (13A, 13B, 14A, 14B) of the other column (2A, 2B).

Abstract: A remote control system for remotely controlling a legged moving robot has a master unit for manipulating the legged moving robot in a master-slave configuration. The master unit has a foot support mechanism for movably supporting an operator's foot, an actuating device for actuating the foot support mechanism, an upper body support mechanism for supporting an operator's upper body, and a master foot acting force detector for detecting forces acting on the operator's foot. The legged moving robot has a robot foot acting force detector for detecting forces acting on a robot's foot from a floor, and a leg actuating device.

Abstract: A remote control system for controlling the actuation of control levers through an actuator unit from a remote location by a moveable operator. The system includes a control position detector for detecting the position of the operator which is directly connected to the operator to reduce the manual effort required for actuation of the control levers and to improve the responsiveness of the system.

Abstract: A power steering apparatus for steering an outboard engine on a boat has a hydraulic cylinder unit for angularly moving a steering arm of the outboard engine, and a hydraulic pump actuatable by a motor for supplying a hydraulic pressure to the hydraulic cylinder unit. The motor is controlled by a motor driver which supplies a first amount of electric energy to the motor when the outboard engine is not steered, and supplies a second amount of electric energy, larger than the first amount of electric energy, to the motor when the outboard engine is steered.

Abstract: An electromechanical control device is disclosed usable for piloting a vehicle, comprising a piloting control stick articulated on a support via an articulation with two degrees of freedom and so with two output axes, a detection assembly comprising position sensors associated with each of these axes, two electromechanisms acting on the axes via two respective transmission devices, so as to oppose to the movements of the control stick resistant forces in accordance with a predetermined force law. The transmission device comprises a resilient connection disposed in series.

Abstract: A synchronous control system for a pair of spindles of a machine tool including a master spindle and a slave spindle. Current positions of the main spindles are detected, and a deviation between the detected current positions is calculated. In case the deviation is within 180 degrees, the current position of one of the main spindles which precedes in the forward direction of rotation is determined as a target position for positioning. In case the deviation is greater than 180 degrees, the detected current position of the master spindle or the slave spindle is offset by an amount equal to an integral number of times 180 degrees so that the deviation between current positions of the main spindles after such offset is within 180 degrees. Then, that one of the current position of the main spindle thus offset and the current position of the other main spindle not offset which precedes in the forward direction of rotation is determined as a common target position for positioning.

Abstract: Disclosure is made of a system for remote transmission of the angular position and force between the master and slave shafts, which includes master and slave synchronous machines (1,2) whose shaft position sensors (9,10) are electrically connected to inputs (11,12) of a unit (13) for assigning orientation of stator magnetic fields of the synchronous master and slave machines and to information inputs (15,14) of a device (16) for assigning the amplitude of stator magnetic fields of master and slave synchronous machines, having its output electrically connected to a control input (21) of a unit (22) producing current in the windings of the synchronous machines, having its setting input (23) connected to the output of the unit (13) for orientation assigning. The outputs of the producing current unit (22) are connected to electrically linked respective windings of the synchronous machines (1,2).

Abstract: The present invention relates to a motorized electric control device provided with a joystick (14), characterized in that it comprises two electrtic torque motors (4, 5) whose axes of rotation are at right angles to one another, two forks (9, 10) coupled at one end to the respective torque motor shafts and offset relative to said shafts, the joystick being mounted for pivoting in relation to the point of intersection of the axes of rotation of the torque motors, resilient means for returning the joystick to a vertical position, rotary potentiometers (22) whose axis of rotation is fixed to the other ends of the forks (9, 10) and whose electric outputs constitute the control outputs of the device, and an electric circuit (30) connected to the outputs of the potentiometers and to the electric inputs of the torque motors in order to produce a resistant torque opposite and proportional to the inclination of the joystick (14) in the vertical position.

Abstract: The invention relates to an actuator and to its application to the position servocontrol for a master-slave remote manipulator.The actuator comprises a box or case in which are housed an electric motor, a slightly or non-reversible reducing gear and a torsion bar connecting the led part of the gear to an actuating plate outside the box. Potentiometers make it possible to define the position of the led part with respect to the box and the force applied to the torsion bar. Thus, it is possible to artificially provide the gear with good reversibility characteristics.Application to any movement control in robotics and particularly to the production of miniaturized master arms, master-slave remote manipulators with force return and without either a cable or belt, and to the control of heavy arms.

Abstract: A servocontrol permits the alignment of a slave mechanical component with a master mechanical component. A probe measures its distance from the master component and another probe measures it distance from the slave component. A circuit processes a square wave pulse whose duration is proportional to the distance separating the master component from the slave component. A motor is supplied with power until the pulse ends.

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: A control unit for automatically controlling the angular position of a reversible, motorized device, such as an antenna rotor, in response to a signal from an external sensor, such as a potentiometer coupled to the rotating shaft of a windvane. The unit includes integrated circuits and other electronic components for monitoring the windvane signal and for activating the rotor, as necessary, to maintain its alignment with the sensed wind direction. The unit also comprises means for providing: a no-response zone of adjustable width about the momentary, average wind direction; an adjustable, time delayed response to changes in wind direction; an automatic reversal of rotation if the rotor approaches the .+-.180.degree. position while searching for the wind direction; an automatic disabling of the rotor for windspeeds less than a selectable, threshold value.

Abstract: A system is provided for multistation remote position indication for remotely controlling and indicating the position of a motor driven positioning system, particularly an antenna rotor, at multiple locations utilizing a single pair of control wires to interconnect all remote control units. The system includes the generation of a symmetrical alternating polarity low frequency pulse train which is amplitude modulated by the position of the antenna, display of the antenna position by means of a polarity selective peak detecting voltmeter, and control of the antenna position by means of polarity selective current means through a synchronous detector and antenna drive motor control means.

Abstract: A control arrangement, especially for use with a track supported implement, having an elongated beam with carriages at the opposite ends supported on respective tracks in which pick-up elements on at least one of the carriages are sensitive to movement of the respective carriage in a horizontal plane and about a vertical axis on the respective track. The pick-up elements are longitudinally spaced on the curve and supply respective signals to a comparator which emits a control signal which varies as the difference between the pick-up signals varies. The control signal is employed for developing an influence on the beam tending to restore it to the condition of parallelism with itself.

Abstract: Apparatus for generating synchronized multi-axis intermittent motion utilizing electronic encoding, memory and a position control system having feed-forward control. A plurality of slave shafts are rapidly and accurately positioned in response to the positioning of a rotatable master shaft, without mechanical interconnections therebetween. An analog transducer is attached to the master shaft providing an analog position output which is fed to a master encoder which feeds a digital output to a plurality of independent digital memory devices. Each digital memory device provides, in response, an output digital signal indicative of the desired position of an associated slave shaft. The output of each memory device, through an appropriate digital-to-analog converter, is fed to a position controller which positions the associated slave shaft as desired. The servo controller includes a feedforward input to speed positioning and reduce system lag.

Abstract: A system for the synhchrotransmission of angular position data between two rotating shafts, using, as the transmitter and receiver, two two-phase Hall effect motors, of which each rotor 2, 52 has a permanent magnet and each stator is formed by two windings 54,54, 73,74, and two Hall effect magnetic sensors 3,4, 23,24, arranged in pairs at a right angle. The electrical signals created by the sensors of the transmitter and the receiver are introduced into comparator circuits 19,29 so as to produce, in the event of angular position differences between the rotors, an error signal which after amplification 40, 41 is applied to the windings 53,54 of the receiver, thus eliminating the position difference by the creation of a torque.

Abstract: A system for selectively aiming a directional receiving antenna in one of a plurality of different directions respectively associated with a plurality of broadcast transmitters differently located in azimuth relative to the antenna in response to the entry into a digital keyboard of the different identification numbers assigned to the different transmitters.

Abstract: An apparatus for adjusting the mutual distance of several movable elements placed side by side wherein control means are provided to insure that the various movable elements move in a transposition operation, the same distance as determined by measuring means which measure the distance which a first movable element moves. The device includes means for repositioning the relative position of the movable elements such that following the repositioning operation, the various movable elements are maintained at a fixed relative distance from one another, the repositioning being conducted by measuring the distance by which a first movable elements moves and moving the related movable elements in response.

Abstract: A reversible mechanical unit of the "slave" type comprising a motor element and position detector is controlled by an assembly which delivers command signals relating to the positions of the motor element. Means are provided for delivering an error signal .epsilon. which is proportional to the difference between the signals delivered respectively by the detector and the control assembly. A signal delivered by a generator and having an amplitude which is proportional to the signal .epsilon. produces direct action on the torque of the motor element; the error signal and the torque are thus in one-to-one correspondence, the error signal being fed back into the control assembly.

Abstract: A control arrangement is described for angularly positioning a member such as an aerial structure in which a potentiometer has a continuous circumferential winding with two sets of tappings of at least two tappings and at least three tappings respectively the relative angular position of the two sets of tappings being variable in dependence upon the angular position of the member. Potentials are applied to one set of tappings and the potentials at the other set are compared with respective ones of a set of preset voltages representative of the desired position of the member. The member is driven to change its angular position until the result of comparison indicates that the desired position has been reached.

Abstract: A circuit for synchronizing a motor at the receiving end of a communication link with one at the transmitting end thereof, the circuit preventing an indication of synchronization until the receiving end motor reaches its rated speed.

Abstract: A digital electronic control system is provided for tracking a target and for directing an aiming system such as a gun. The control system comprises digital circuitry for determining the aiming angle required to aim the gun directly at the target and for determining an aiming angle correction which provides for leading the target by an amount such that a projectile fired by the gun will strike the target. The control system further includes a pair of motors controlled by the digital circuitry, one of which positions the gun to lead the target by a calculated aiming angle correction and the other of which positions, in a generic sense, the telescope an angular amount equal to the aiming angle correction behind the gun. In a preferred embodiment, an input is received by the control system from a tracking system which is positioned along with the gun and which can include, for example, a telescope which has an independently positionable optical axis.

Abstract: An apparatus capable of digitizing or plotting coordinate locations and lines utilizes an automatically controlled carriage that is translated over the supporting surface of a digitizing and plotting table and a free cursor for identifying specific coordinate locations on the table. Radiation means, such as electromagnetic coils, are mounted on the carriage and the cursor to produce signals indicative of the relative positioning of the carriage and cursor during a digitizing mode of operation. The position signals are transmitted to controlled drive motors which cause the carriage to follow the cursor over the supporting surface. Encoders, also operated by the drive motors, allow the position of the carriage and, hence, the cursor to be recorded for subsequent usage. A plotting instrument such as a pen is mounted on the carriage so that the apparatus can be used in a plotting mode of operation to generate graphic information.

Abstract: There is disclosed a scale control device for use in a profiling machine tool, which comprises: relative displacement detecting means detecting a relative displacement and a displacing direction of a tool head with respect to a work, thereby producing output signals including data of relative displacement and the direction of the displacement; feedback signal producing means receiving the output signals from the relative displacement detecting means and converting the output signals into feedback signals which have been frequency-divided at a pre-set desired ratio; and model drive mechanisms displacing a model relative to the work in a direction the same as or reverse to the moving direction of the tool head with respect to the work, in response to the feedback signals and in proportion to a relative displacement between the tool head and the work.

Abstract: A system for measuring the rotation of a shaft without direct mechanical connection to it uses a digital system to maintain a second shaft that connects to a cylindrical chart recorder in a constant angular position relationship with the measured shaft. Two limit switches on the recorder shaft sense the rotation of a reference point on the measured shaft beyond a range defined by the location of the limit switches. A stepper motor driven by digital power supply incrementally rotates the recorder shaft to move a reference point on the recorder shaft back into alignment with the reference point on the measured shaft. A digital counter controls the number of pulses supplied by the power supply to stop the recorder shaft in the aligned position.