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US 4,404,505 AGranted
Programmable multiple position machine
AssigneeSwanson Systems, Inc.
InventorsDouglas L. Swanson, Ronald K. Turk
Life of this patent
Estimating the term…
Abstract
A multiple position programmable movement machine including movable transfer means; means for producing signals indicating the actual position of the transfer means; drive means coupled to the transfer means for moving the transfer means; and programmable electronic control means for the drive means to position the transfer means at a plurality of selected positions. The control includes segmented velocity-position profile means to produce velocity profile outputs in response to actual position signals and modification signal generation means for producing a modification signal at about the final velocity-position segment to correct differences between the actual and selected positions of the transfer means.
Claims6
A multiple position programmable movement machine comprising:
- work transfer means mounted for incremental movement;
- a drive shaft supporting said work transfer means;
- drive means coupled to said work transfer means through said drive shaft for driving said work transfer means, said drive means including a servo-controlled drive motor;
- encoder means coupled to said work transfer means to determine the actual position of said work transfer means;
- control panel including means for selecting a plurality of rotary positions at which the work transfer means can be positioned;
- and
- means for producing a drive velocity command to said drive motor to cause controlled incremental movement of said work transfer means including:
- means, responsive to said encoder means and to said position selecting means, for producing a position difference signal indicating the difference between a selected position and the actual position of the work transfer means;
- means, responsive to said encoder means, for triggering a variable sequencer to sequence along a profile breakpoint detector, a selectable acceleration rate signal generator, and a selectable velocity signal generator, thereby producing a plurality of paired velocity and acceleration signals;
- velocity profile generation means, responsive to said velocity and acceleration signals for producing a velocity profile output;
- means, responsive to said variable sequencer and to said position difference signal, for limiting the magnitude of the position difference signal and for producing a resulting modification signal;
- and
- scaling means for receiving said velocity profile output and said modification signal to produce a scaled drive velocity command to said servo-controlled drive motor.
10 more elements
A multiple position programmable movement machine comprising:
- a work transfer means mounted for rotary movement;
- a drive shaft coupled to said work transfer means;
- a servo-controlled drive motor coupled to said work transfer means through said drive shaft so that controlled operation of said drive motor causes controlled rotation of said work transfer means;
- means coupled to said drive shaft for determining the actual rotary position of said work transfer means and producing an actual position signal;
- a control panel including means for selecting a plurality of desired rotary positions for the work transfer means and producing a selected position output;
- a selected position calculator for receiving said selected position output and producing a digital selected position signal;
- an actual position calculator for receiving said actual position signal and producing a digital actual position signal;
- a position difference detector responsive to said selected position signal and said actual position signal to compute the difference between said position signals and produce a resultant position difference signal;
- a digital-to-analog converter responsive to said position difference signal to convert said signal to an analog position difference signal;
- a profile breakpoint detector containing position setpoints for the incremental rotary motion sequence of the work transfer means, and producing trigger signals corresponding to the endpoints of each velocity segment;
- a selectable acceleration rate signal generator responsive to each of said trigger signals and producing corresponding acceleration rate signals;
- a selectable velocity signal generator responsive to each of said trigger signals and producing corresponding velocity signals;
- a digital velocity profile generator responsive to said acceleration rate signal and to said velocity signal for producing a velocity profile output;
- means for connecting said digital velocity profile output to an analog velocity profile output;
- means, responsive to said analog position difference signal and to said variable sequencer, for limiting the magnitude of the position difference signal and for producing a resulting modification signal;
- and
- scaling means for receiving said analog velocity profile output and said modification signal to produce a scaled drive velocity command to said servo-controlled motor.
14 more elements
Dependencies are inferred from the claim text.