Method and apparatus for normalizing the speed of an element

Claim 3

The method of Claim 1 wherein the step of providing stored information correlated to a preselected nominal speed of movement for the positionable element during operation comprises providing a storage means having stored information correlated to a preselected nominal speed.

Claim 4

The method of Claim 1 wherein the step of providing stored information correlated to at least one speed compensation value comprises providing a storage means having stored information correlated to at least one speed compensation value.

Claim 5

The method of Claim 2 wherein the information correlated to a preselected nominal speed is contained in a look-up table stored in a read only memory.

Claim 6

The method of Claim 3 wherein the information correlated to at least one speed compensation value is contained in a look-up table stored in a read only memory.

Claim 7

The method of Claim 1 wherein the step of detecting the actual speed of the-positionable element during movement from the first position to the second position in response to application of the predetermined drive signal to the moving means comprises sensing variations in the output signal produced by a shaft encoder and wherein the step of converting the detected actual speed of the positionable element during movement from the first position to the second position comprises accumulating a time for the movement of the positionable element from the first position to the second position as indicated by a predetermined number of variations in the shaft encoder output signal and wherein the step of selecting information correlated to a speed compensation value dependent upon the information correlated to the actual speed of the positionable element during movement from the first position to the second position comprises accessing a speed compensation value from the stored information correlated to at least one speed compensation value based on the accumulated time for the movement of the positionable element from the first position to the second position.

Claim 8

The method of Claim 5 wherein the stored information correlated to at least one speed compensation value comprises the values zero, one, two, and three units contained in the look-up table and wherein the step of determining a compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the speed compensation value comprises incrementing the preselected nominal speed by the selected value from among the units one, two, and three, when the actual speed is too slow, and decrementing the preselected nominal speed by the selected value from among the units one, two, and three, when the actual speed is too fast.

Claim 9

The method of Claim 6-wherein the information correlated to at least one speed compensation value is contained in a look-up table stored in a read only memory.

Claim 10

The method of Claim 8 wherein the stored information correlated to at least one speed compensation value comprises the values zero, one, two, and three units contained in the look-up table and wherein the step of determining a compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the speed compensation value comprises incrementing the preselected nominal speed by the selected value from among the units one, two, and three, when the actual speed is too slow, and decrementing the preselected nominal speed by the selected value from among the units one, two, and three, when the actual speed is too fast.

Claim 11

The method of Claim 1, further comprising: applying a second predetermined drive signal to the moving means for moving the positionable element from the second position back to the first position, the second predetermined drive signal being dependent upon the stored information correlated to the preselected nominal speed; detecting the actual speed of the positionable element during movement from the second position back to the first position in response to application of the second predetermined drive signal to the moving means; converting the detected actual speed of the positionable element during movement from the second position back to the first position to information correlated to the actual speed of the positionable element during movement from the second position back to the first position; selecting information corralated to a second speed compensation value dependent upon the information correlated to the actual speed of the positionable element during movement from the second position back to the first position; storing the selected information correlated to the second speed compensation value; and determining a second compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the second speed compensation value; whereby a compensated drive signal is determined for movement of the positionable element in the direction from the first to the second position and a second compensated drive'signal is determined for movement of the positionable element in the direction from the second to the first position.

Claim 12

The method of Claim 6 wherein the step of applying the predetermined drive signal to the moving means for moving the positionable element from the first position to the second position is repeated a plurality of repetitions and wherein the step of converting the detected actual speed of the positionable element during movement from the first position to the second position comprises determining an average time for the movement of the positionable element from the first position to the second position for the plurality of repetitions and wherein the step of selecting information correlated to a speed compensation value dependent upon the information correlated to the actual speed of the positionable element during movement from the first position to the second position comprises accessing a speed compensation value from the stored information correlated to at least one speed compensation value based on the average time for the movement of the positionable element from the first position to the second position for the plurality of repetitions.

Claim 17

Apparatus for adjusting the operating speed of a positionable element (16) movable among various positions, comprising: means (34) for storing information correlated to a preselected nominal speed of movement for the positionable element (16) during operation; means (34) for storing information correlated to at least one speed compensation value; means (12) for moving the positionable element (16); means (46) for applying a predetermined drive signal to the moving means (12) for moving the positionable element (16) from a first position to a second position in response to activation of the moving means (12),the predetermined drive signal being dependent upon the stored information correlated to the preselected nominal speed; means (22) for detecting_the actual.speed of the positionable element (16) during movement from the first position to the second position in response to application of the predetermined drive signal to the moving means (12); means (28) for converting the detected actual speed of the positionable element (16) during movement from the first position to the second position to information correlated to the actual speed of the positionable element ( 16 ) during movement from the first position to the second position; means (32) for selecting information correlated to a speed compensation value dependent upon the information correlated to the actual speed of the positionable element (16) during movement from the first position to the second position; means (34) for storing the selected information correlated to the speed compensation value; and means (32) for determining a compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the speed compensation value.

Claim 18

Apparatus for adjusting the operating speed of a positionable element (16) movable among various positions, comprising: means (34) for storing information correlated to a preselected nominal speed of movement for the positionable element (16) during operation; means (34) for storing information correlated to at least one speed compensation value; means (12) for moving the positionable element (16); means (46) for applying a predetermined drive signal to the moving means (12) for moving the positionable element (16) from a first position to a second position in response to activation of the moving means (12),the predetermined drive signal being dependent upon the stored information correlated to the preselected nominal speed; means (22) for detecting_the actual.speed of the positionable element (16) during movement from the first position to the second position in response to application of the predetermined drive signal to the moving means (12); means (28) for converting the detected actual speed of the positionable element (16) during movement from the first position to the second position to information correlated to the actual speed of the positionable element ( 16 ) during movement from the first position to the second position; means (32) for selecting information correlated to a speed compensation value dependent upon the information correlated to the actual speed of the positionable element (16) during movement from the first position to the second position; means (34) for storing the selected information correlated to the speed compensation value; and means (32) for determining a compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the speed compensation value.

Claim 19

1 5. The apparatus of Claim 14 wherein the means for storing information correlated to a preselected nominal speed of movement for the positionable element during operation comprises a look-up table stored in a read only memory (34).

Claim 20

The apparatus of Claim 14 wherein the means for storing information correlated to at least one speed compensation value comprises a look-up table stored in a read only memory (34).

Claim 21

The apparatus of Claim 14 wherein the means for detecting the actual speed of the positionable element (16) during movement from the first position to the second position in response to application of the prede- termined drive signal to the moving means (12) comprises means for sensing variations in the output signal produced by a shaft encoder (22), wherein the means (28) for converting the detected actual speed of the positionable element ( 16 ) during movement from the first position to the second position comprises a timing means for accumulating a time for the movement of the positionable element from the first position to the second position as indicated by a predetermined number of variations in the shaft encoder output signal and wherein the means (34) for selecting information correlated to a speed compensation value dependent upon the information correlated to the actual speed of the positionable element (16) curing movement from the first position to the second position comprises means for accessing a speed compensation value from the stored information correlated to at least one speed compensation value based on the accumulated time for the movement of the positionable element (16) from the first position to the second position.

Claim 22

The apparatus of Claim 16 wherein the stored information correlated to at least one speed compensation value comprises the values zero, one, two, and three units contained in the look-up table (34) and wherein the means (32) for determining a compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the speed compensation value comprises means for incrementing the preselected nominal speed by the selected value from among the units one, two, and three, when the actual speed is too slow, and decrementing the preselected nominal speed by the selected value from among the units one, two, and three, when the actual speed is too fast.

Claim 23

The apparatus of Claim 17 wherein the means for storing information correlated to at least one speed compensation value comprises a look-up table stored in a read only memory (34).

Claim 24

The apparatus of Claim 19 wherein the stored information correlated to at least one speed compensation value comprises the values zero, one, two, and three units contained in the look-up table (34) and wherein the means (32) for determining a compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the speed compensation value comprises means for incrementing the preselected nominal speed by the selected value from among the units one, two, and three, when the actual speed is too slow, and decrementing the preselected nominal speed by the selected value from among the units one, two, and three, when the actual speed is too fast.

Claim 25

21 . The apparatus of Claim 14, further comprising: means (46) for applying a second predetermined drive signal to the moving means (12) for moving the positionable element (16) from the second position back to the first position, the second predetermined drive signal being dependent upon the stored information correlated to the preselected nominal speed; , means (22) for detecting the actual speed of the positionable element during movement from the second position back to the first position in response to application of the second predetermined drive signal to the moving means (16); means (28) for converting the detected actual speed of the positionable element .(16) during movement from the second position-back to the first position to information correlated to the actual speed of the positionable element (16) during movement from the second position back to the first position; means .(32) for selecting information correlated to a second speed compensation value dependent upon the information correlated to the actual speed of the positionable element (16) during movement from the second position back to the first position; means (34T for storing the selected information correlated to the second speed compensation value; and means (32) for determining a second compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the second speed compensation value; thereby determining a compensated drive signal for movement of the positionable element(16) in the direction from the first to the second position and a second compensated drive signal for movement of the positionable element (16) in the direction from the second to the first position.

Claim 26

The apparatus of Claim 17 wherein the means ( 46 ) for applying the predetermined drive signal to the moving means (12) for moving the positionable element (16) from the first position to the second position applies the predetermined drive signal a plurality of repetitions and wherein the means (28) for converting the detected actual speed of the positionable element (16) during movement from the first position to the second position comprises means for determining an average time for the movement of the positionable element (16) from the first position to the second position for the plurality of repetitions and wherein the means (32) for selecting information correlated to a speed compensation value dependent upon the information correlated to the actual speed of the positionable element (16) during movement from the first position to the second position comprises means for accessing a speed compensation value from the stored information correlated to at least one speed compensation value based on the average time for the movement of the positionable element (16) from the first position to the second position for the plurality of repetitions-.

Claim 27

Apparatus for adjusting the operating speed of a printing-means (16) movable among various print positions, comprising: means (34) for storing information correlated to a preselected nominal speed of movement for the printing means (16) during operation; means (34) for storing information correlated to at least one speed compensation value; means for activating a servomechanism (12) for moving the printing means (16); means (46) for applying a predetermined drive signal to the servomechanism .(12) for moving the printed means (16) a preset number of print positions from a first position to a second position in response to activation of the servomechanism (12) without initiating printing,the predetermined drive signal being dependent upon the stored information correlated to the preselected nominal speed; means (22) for cetecting the actual speed of the printing means (16) during movement from-the first position to the second position in response to application of the predetermined drive signal to the servomechanism (12); means (28) for converting the detected actual spced of the printing means ( 1 6) during movement from the first position to the second position to information correlated to the actual speed of the printing means (16) during movement from the first position to the second position; means (32) for selecting information correlated to a speed compensation value dependent upon the information correlated to the actual speed of the printing means ( 16 ) during movement from the first position to the second position; means (34) for storing the selected information correlated to the speed compensation value; and means (32) for determining a compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the speed compensation value.

Claim 28

Apparatus for adjusting the operating speed of a printing-means (16) movable among various print positions, comprising: means (34) for storing information correlated to a preselected nominal speed of movement for the printing means (16) during operation; means (34) for storing information correlated to at least one speed compensation value; means for activating a servomechanism (12) for moving the printing means (16); means (46) for applying a predetermined drive signal to the servomechanism .(12) for moving the printed means (16) a preset number of print positions from a first position to a second position in response to activation of the servomechanism (12) without initiating printing,the predetermined drive signal being dependent upon the stored information correlated to the preselected nominal speed; means (22) for cetecting the actual speed of the printing means (16) during movement from-the first position to the second position in response to application of the predetermined drive signal to the servomechanism (12); means (28) for converting the detected actual spced of the printing means ( 1 6) during movement from the first position to the second position to information correlated to the actual speed of the printing means (16) during movement from the first position to the second position; means (32) for selecting information correlated to a speed compensation value dependent upon the information correlated to the actual speed of the printing means ( 16 ) during movement from the first position to the second position; means (34) for storing the selected information correlated to the speed compensation value; and means (32) for determining a compensated drive signal from the stored information correlated to the preselected nominal speed and the stored selected information correlated to the speed compensation value.

Claim 29

Apparatus for adjusting the operating speed of a printing means (16) movable among various print positions, comprising: means (34) for storing preselected nominal speed information in a first look-up table, the preselected nominal speed information being correlated to a specified speed of movement for the printing means (16) during operation; means (34) for storing speed compensation information in a second look-up table; means for activating a servomechanism (12) for moving the printing means (16); means (32) for accessing the first look-up table for the preselected nominal speed information; means (34) for storing the preselected nominal speed information; means (32) for converting the preselected nominal speed information to a predetermined drive signal; means (46) for applying the predetermined drive signal to the servomechanism -(12) for moving the printed means ( 16 ) a preset number of print positions from a first position to a second position in response to activation of the servomechanism (12) without initiating printing; means (22) for detecting the actual speed of the printing means (16) during movement from the first position to the second position in response to application of the predetermined drive signal to the servomechanism.(12); means (28) for converting the detected actual speed of the printing means (16) during movement from the first position to the second position to information correlated to the actual speed of the printing means (16) during movement from the first position to the second position; means (32) for accessing the second look-up table for the speed compensation information; means (32) for selecting speed compensation information dependent upon the information correlated to the actual speed of the printing means (16) during movement from the first position to the second position; means (34) for storing the selected speed compensation information; means (32) for determining compensated drive signal information from the stored preselected nominal speed information and the stored selected speed compensation information; means (32) for converting the compensated drive signal information to a printing operation drive signal; and means (46) for applying the printing operation drive signal to the servomechanism (12) during ensuing printing operation by means of the printing means (16).

Claim 30

Apparatus for adjusting the operating speed of a printing means (16) movable among various print positions, comprising: means (34) for storing preselected nominal speed information in a first look-up table, the preselected nominal speed information being correlated to a specified speed of movement for the printing means (16) during operation; means (34) for storing speed compensation information in a second look-up table; means for activating a servomechanism (12) for moving the printing means (16); means (32) for accessing the first look-up table for the preselected nominal speed information; means (34) for storing the preselected nominal speed information; means (32) for converting the preselected nominal speed information to a predetermined drive signal; means (46) for applying the predetermined drive signal to the servomechanism -(12) for moving the printed means ( 16 ) a preset number of print positions from a first position to a second position in response to activation of the servomechanism (12) without initiating printing; means (22) for detecting the actual speed of the printing means (16) during movement from the first position to the second position in response to application of the predetermined drive signal to the servomechanism.(12); means (28) for converting the detected actual speed of the printing means (16) during movement from the first position to the second position to information correlated to the actual speed of the printing means (16) during movement from the first position to the second position; means (32) for accessing the second look-up table for the speed compensation information; means (32) for selecting speed compensation information dependent upon the information correlated to the actual speed of the printing means (16) during movement from the first position to the second position; means (34) for storing the selected speed compensation information; means (32) for determining compensated drive signal information from the stored preselected nominal speed information and the stored selected speed compensation information; means (32) for converting the compensated drive signal information to a printing operation drive signal; and means (46) for applying the printing operation drive signal to the servomechanism (12) during ensuing printing operation by means of the printing means (16).