Spindle orientation control apparatus

A spindle movement control system providing control of a motor rotatively connected by a transmission to a spindle, said system comprising:

• a velocity detector to output velocity pulses based on the movement of the motor;
• a spindle sensor to sense the position of the spindle and output a stopping position determining signal and a stopping position proximity signal;
• an arithmetic circuit to output a commanded velocity for control of the motor, said arithmetic circuit including
• means for determining a first orientation velocity based on a position gain and a transmission ratio of the transmission;
• means for determining a second orientation velocity based on at least a position gain;
• means for normalizing the stopping position determining signal such that a peak level of the stopping position determining signal is equal to the second orientation velocity;
• means for setting states of a plurality of sequence status signals based on an actual velocity of the motor in relation to the stopping position proximity signal, the first orientation velocity and the second orientation velocity;
• and
• means for determining the commanded velocity based on the state of the sequence status signals and at least one of the velocity pulses, the stopping position determining signal, the stopping position proximity signal, the first orientation velocity and the second orientation velocity;
• and
• a controller, including an amplifier, for controlling said motor based on the commanded velocity output by said arithmetic circuit.

A spindle movement control method providing control of a motor rotatively connected by a transmission to a spindle, said method comprising the steps of:

• (a) outputting velocity pulses based on the movement of the motor;
• (b) sensing the position of the spindle and outputting a stopping position determining signal and a stopping position proximity signal;
• (c) determining a first orientation velocity based on a position gain and a transmission ratio of said transmission;
• (d) determining a second orientation velocity based on at least a position gain;
• (e) normalizing the stopping position determining signal such that a peak level of the stopping position determining signal is equal to the second orientation velocity;
• (f) setting states of a plurality of sequence statuses based on an actual velocity of the motor in relation to the stopping position proximity signal, the first orientation velocity and the second orientation velocity;
• (g) determining a commanded velocity based on the state of the sequence statuses and at least one of the velocity pulses, the stopping position determining signal, the stopping position proximity signal, the first orientation velocity and the second orientation velocity;
• and
• (h) controlling the motor based on the commanded velocity.

A spindle movement control system providing control of a motor rotatively connected to a spindle, said system comprising:

• a velocity detector to output an actual velocity based on movement of the motor;
• a spindle sensor to sense the position of the spindle and output a stopping position determining signal and a stopping position proximity signal;
• an arithmetic circuit to output a commanded velocity for control of the motor, said arithmetic circuit including
• means for determining a first orientation velocity based on at least a position gain;
• means for determining a second orientation velocity based on at least position gain;
• means for normalizing the stopping position determining signal such that a peak level of the stopping position determining signal is equal to the second orientation velocity;
• and
• means for determining the commanded velocity based on at least one of the actual velocity, the stopping position determining signal, the stopping position proximity signal, and the second orientation velocity;
• and
• a controller for controlling said motor based on the commanded velocity output by said arithmetic circuit.