Abstract: A numerical control device for synchronously controlling the movement of a plurality of axes of a machine by repeatedly controlling a cyclic motion. An axis of the machine is designed to stop at a predetermined position upon the occurrence of an emergency stop. To achieve this stop position, an amount of retraction is set up to a position where a tool of machine does not interfere with a work piece or other obstacles. When an emergency stop signal is entered during a binary operation, because of an occurrence of an abnormality, a movement control amount for each period, corresponding to a set amount of retraction, is added to the movement control amount for each period of the binary operation and the axis is thereby driven by the resultant modified movement control amount. The binary operation is stopped upon the reaching of the stop position, and the tool can be held at this retracted position, by the set amount of retraction.

Abstract: A Y stage is capable of translational driving in the Y-axial direction, by independently controllable Y1 linear motor and Y2 linear motor. The amount of movement of the Y stage is detected by a Y1 linear encoder and Y2 linear encoder, and fed back to a Y control system and &thgr; control system. The Y control system outputs a translational thrust command value, by receiving the average value of each positional detecting value measured by the Y1 linear encoder and Y2 linear encoder as the stage translational direction position feedback value. The &thgr; control system receives the difference between each position detecting value as a stage yawing direction position feedback value, and outputs a yawing direction thrust command value. A non-interference block outputs Y1 linear motor thrust command value and Y2 linear motor thrust command value, by the use of the translational thrust command value and the thrust command value.

Abstract: An electrical drive system for the synchronised adjustment of rotatable axles or linearly movable functional parts in particular for printing machines, in terms of their position, speed or acceleration. Drive units are controlled using computer assistance and are connected to one or more functional parts for their adjustment. A plurality of drive networks, which each have a plurality of the drive units as network nodes, are allocated to some or a group of the functional parts. Inside at least one of the drive networks, its nodes or drive units are arranged in accordance with the master/slave principle and are respectively connected to one another in a ring structure through communication channels and/or a communication system. At least one node of a drive network is coupled in a ring structure with one node of another drive network, likewise in accordance with the master/slave principle, through inter-communication channels and/or an inter-communication system or network.

Abstract: A system for real time three-dimensional model display in a machine tool includes a plurality of motors each capable of providing relative movement between a tool and a workpiece along an associated one of multiple axes, a servo driver for controlling the motors, a numerical controller coupled to the servo driver for transmitting target three-dimensional coordinates of points stored in a memory to the servo driver such that the motors can be caused to move into the target coordinates of points and for receiving actual three-dimensional coordinates of points fed back from the motors, and an image processor for receiving the actual three-dimensional coordinates of points from the numerical controller and for directly transmitting the actual three-dimensional coordinates of points to a display screen, so as to achieve a real time workpiece shape display based on the actual three-dimensional coordinates of points of the motors.

Abstract: The basic available command library of the run-time system (RTS1-RTS4) of a universal motion control (combined SPS/NC control) can be expanded dynamically and according to the user's specific requirements by loading technology packets TP (with corresponding technology object types TO). Thus, a dynamic scaling of a universal motion control UMC is possible. Due to a consistent integration and communication platform API, the functionality of extremely prepared technology packets TP can also be integrated into the control.

Abstract: An object is to reduce damage to the mechanical parts of a moving mechanism unit 5 for moving a retaining mechanism unit 7 and electric power consumption in an apparatus for taking out a molded product. The apparatus comprises a time measuring unit 4 for measuring a return time elapsing between a start of the returning operation of the retaining mechanism unit 7 in a preceding process and the next start of the penetrating operation for taking out a molded product; an arithmetic operation unit 11 for calculating a return moving speed distribution for a process succeeding the preceding process such that the returning operation terminates upon elapse of the return time measured by the time measuring means 4; and a control unit 12 for activating the moving mechanism unit 5 in such a way that the returning operation is carried out according to the return moving speed distribution in the succeeding process.

Abstract: A method, apparatus, control system and computer program product are provided for controllably positioning the solar concentrator. The method, apparatus, control system and computer program product determine the respective errors generated by more and different error sources than prior techniques, including error sources selected from the group consisting of a gravitational residue error, an elevation transfer function error and an error attributable to atmospheric refraction. Based upon the respective errors, the method, apparatus, control system and computer program product determine an elevation command and an azimuth command to compensate for the vertical error and the horizontal error between the centerline of the solar concentrator and the sun reference vector such that the solar concentrator can be more precisely positioned, thereby improving the efficiency with which the solar concentrator collects solar energy.

Abstract: A multiple axis modular controller and a method of operating the controller in a system comprising input devices receiving indications of system conditions and output devices performing tasks affecting the system conditions. The controller includes input connectors connectable to the input devices and output connectors connectable to the output devices. A processor executes a series of sequential commands of an application program. A command can be executed in response to completion of one sequential command of the series of sequential commands regardless of a next sequential command in the series of sequential commands or in response to a specified input received at one of the input connectors or in response to a specified output sent to one of the output connectors. The processor does not execute the command, minimizing processor delays.

Abstract: An apparatus and method for controlling a mechanism for positioning video cameras for use in measuring vehicle wheel alignment includes optical targets for mounting to the wheels of a vehicle, at least one video camera for viewing said optical targets and producing at least one image thereof, a computer system for measuring said at least one image and for using said measurements to compute vehicle wheel alignment information, a positioning system for positioning said at least one video camera such that said optical targets are visible to said at least one video camera and such that said at least one video camera can produce said at least one image of said targets, and a controller for controlling said positioning system such that a user of said apparatus can cause said at least one video camera to be positioned in at least one desired position and such that said user can further cause said controller to remember said at least one desired position so that any user can, at a later time, cause said controller to

Abstract: The system and method of the present invention is to drive a slave axis (S_A) with a value which indicates to said slave axis that the guide axis (L_A) has already rotated further than is actually the case. This can be achieved by adding a correction angle (&phgr;corr) to the measured angle (&phgr;L—meas) of the guide axis. In order to configure the virtual onward rotation in such a way that a lag error of the slave axis is just compensated as a result, guide axis angles (&phgr;L—meas) are increased by respective correction angles (&phgr;corr) which are proportional to the angular velocity (&phgr;L) of the guide axis and weighted with the data propagation time (TT) of the position measured value (&phgr;L—meas) of the guide axis and the delay (TR) of the position control system of the slave axis, said correction angles (&phgr;corr) preferably being dimensioned in accordance with &phgr;corr=&ohgr;L*(TT+TR).

Abstract: In a robot and its control method the behavior and motion models functioning as bases in generating behaviors and motions of the robot are transformed based on the input history from the outside and the history of its own behaviors and motions.

Abstract: To train the sequential kinematic behavior of an automated telekinegenesis robot system, a virtual reality simulator is driven with kinematic parameter data derived from a teleoperational device, which models the sequential behavior to be exhibited by the target robot. Sensor outputs of the teleoperational device are processed by a geometry conversion algorithm, to generate data representative of the spatial kinematics of the robot's desired travel path. A kinematic machine simulator program within a robotic control simulation workstation simulates a virtual machine based upon the actual parameters of the robot. The virtual reality simulation program is interactive, allowing the workstation operator to selectively interrupt the operation of the machine, modify its control parameters, and then rerun the program, until the desired behavior of the target machine is achieved.

Abstract: A stage installation for vertical movement of multiple stage elements has a computer controlled winch assembly comprising a support member having a channel, a platform adjacent the support member, electrical control and electrical power raceways in the channel, and a multiplicity of winches supported on the platform. The winches include a housing, a bidirectional servomotor, a rotating drum driven by the motor in either direction to haul or pay out cables operatively connected to the stage elements. Connectors are coupled to the electrical power and electrical control raceways, and a remote computer terminal transmits signals to the winches to initiate and terminate operation of the servomotor.

Abstract: An acceleration and deceleration control in which, for a relation between speed and acceleration, the low speed part need not be symmetrical with the high speed part, is performed such that an actual acceleration curve may lie along a restricted acceleration curve as much as possible. A curve representing actual acceleration-speed, corresponding to time-speed transition to be planned, approaches a restricted acceleration curve. When supplying a movement command which has been subjected to acceleration and deceleration processing to a servo control section, acceleration in the acceleration and deceleration processing is determined such that a speed-acceleration curve of the movement command which has been subjected to acceleration and deceleration processing may lie along predetermined speed-acceleration curve. The speed-acceleration curve is set for each axis and dependent on acceleration or deceleration, using parameters.

Abstract: An automatic monitoring and display system for use with a digging machine in order to excavate holes having a predetermined depth and an excavation slope pitch from ground level to hole depth. The machine has a boom, a dipper stick connected to the boom and a bucket at the end of the dipper stick, all interconnected by three pivots. Only two sensors are used to detect the position of the bucket relative to a zero reference signal which is stored in a processor. The operator of the machine has a console whereby to select an excavation depth as well as a slope pitch angle and the console will display to him the hole depth and the percentage pitch on the slope as the excavation proceeds. The operator can reset his zero reference signal at any time from anywhere.

Abstract: A machine tool is controlled through a process incorporating the steps of (1) measuring geometric and thermal errors with accurate instruments, (2) creating a global differential wet model of machine tool position, and (3) using this model to control real time compensation of machine tool operation. A controller modifies encoder-type position feedback signals used by the machine to compensate for geometric and thermal errors in the manner dictated by the global differential wet model.

Abstract: This invention relates to a learning programmable limit switch for use in a motion system which provides passive feedback to a controller. The learning programmable limit switch is capable of causing the motion control system to operate in accordance with a user-programmed motion profile. The learning programmable limit switch provides the capability of accurately “learning” and controlling the positions at which a motion system changes velocity, as well as the timing at which the system causes a driven mechanism to, for example, stop. The system is intended for use in variable speed drives, hydraulic, pneumatic drive systems or any system where real time, passive feedback control is desired. In one typical environment, the learning programmable limit switch is connected to an output shaft of a driver. The outputs of the learning programmable limit switch are turned ON/OFF based upon the detected angular position of the output shaft.

Abstract: A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a first position A1 where a coordinate system setting jig is within the field of view of a camera supported by the robot. Matrix data [A1] representing the robot position A1 is stored and the jig is photographed by the camera. The image of a group of dots on the jig are analyzed by an image processor to obtain picture element values of the individual points. Based on the picture element values of the individual points and jig data (data of distances between and number of the points), matrix data [D1] representing a position and a posture of a coordinate system &Sgr;c to be set with respect to a sensor coordinate system &Sgr;s is obtained.

Abstract: Under the conditions that the tool is movable in an X-axial direction for approaching a work W and in a Y-axial direction perpendicular to the X-axial direction, the tool is moved at a specified speed in the X-axial direction to make the tool approach a work W and at the same time the tool is reciprocally moved at a specified frequency and a specified amplitude to detect a load fluctuation component for the tool in the X-axial direction during movement of the tool, and contact between the tool and the work W is detected according to this load fluctuation component.

Abstract: A machine-side position detection control unit (20) is provided in order to read a position feedback signal of a position detector (64) associated with a control axis (X axis) requiring machine-side position detection for controlling of a closed loop system. This makes unnecessary for providing a position detection control unit in a servoamplifier (30, 40, 50) for each axis. A numerical control unit (10) and the servoamplifier (30, 40, 50) for each axis are connected in a daisy chain form by a serial communication line.

Abstract: The present invention is directed to a method for simulating and optimizing a plant model. The plant model having a multiplicity of equipment models for a desired processing plant and a multiplicity of local property models for the material components within the plant includes providing a set of initial values for each property model in a data storage area. A first set of coefficients in each property model is determined. A set of equations representing the equipment models and property models, wherein the property models having a complementarity formulation, are executed simultaneously by the digital processor by using the first set of coefficients to determine a second set of coefficients in each property model. The second set of coefficients are stored in the data storage area.

Abstract: A position control system, capable of correcting the positional deviation between mechanically related control axes. The position control system comprises a structural body having a Y-shaft supported by a fixed member so that two end portions can move in a vertical direction and a main shaft provided in this shaft so that it can move in a horizontal direction, servo motors for driving the two end portions, a servo motor for driving the main shaft, and a control device for performing the servo control of the servo motors. The control device adjusts the positions of the two end portions of the Y-shaft in accordance with the position of the main shaft with respect to the Y-shaft at the position control to correct the positional deviation from the target position of the main shaft in the vertical direction.