Motion control system and method for length coded sequential commands

A motion control system for producing simultaneous movement of an extent on each of two axes with the values of the extents in increments producing a length having essentially a desired distance comprising motor means for each axis with each motor means producing an increment of movement for each pulse received, means for recognizing representations of an endless series of sequential different lengths with each length being defined by an extent in increments on each axis with the lengths being essentially of a constant desired distance, means for accepting a command of a length and producing its extents as pulses to the motor means and means for accepting a command for the next length upon the termination of supplying pulses for the first mentioned length.

A motion control system for accepting a command for movement along an axis with the command containing two bits, means for providing movement at different speeds along the axis and means for accepting one code of the two bits and providing movement at the same speed as that caused by a prior command, of a second code of the two bits and providing movement at the next lower speed than the speed caused by the prior command and of a third code of the two bits and providing movement at the next higher speed from the speed caused by the prior command.

A method for commanding and producing movement in which the movement is subdivided into a plurality of consecutive lengths with each length consisting of a whole number of increments comprising the steps of providing a command for each length, producing for a present command the dictated number of increments in its length, coding the next command for the difference in the number of increments desired between the next length and the present length with the difference being limited to no more than one increment and producing the number of increments in the next length dictated by the next command.

A method for commanding and producing movement in which the movement is subdivided into a plurality of consecutive lengths with each length consisting of a number of increments comprising the steps of providing a plurality of different rates each providing a different number of increments for each length, arranging the rates in a selected order, producing increments in a present length at one rate in accordance with a present command, coding the next command for the difference in position in the selected order of the rate for a next length as compared to the rate for the present length and producing increments at the next commanded rate for the next length.

A method for commanding and producing movement along two axes in which the movement is subdivided into a plurality of consecutive essentially equidistant lengths with each length having an extent in increments along each axis and in which the increments on the axis are produced simultaneously, and with there being one command for each length comprising the steps of providing a plurality of different lengths, arranging the lengths in an endless sequential series, selecting a present length to be produced by a present command, coding the next length in accordance with its relative position in the series from the position of the present length and producing the motion dictated by the next length.