EP0531653A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Positioning and control apparatus that is interactively programmable using a display
Assignee: Mitsubishi Electric Corp
•
Filing: 1992-07-09
•
Granted: —
•
Expires: 2012-07-09
Abstract
Abstract An apparatus for synchronously controlling the actual operation of a machine using one or more motors, such as servo motors, by simulating in program form a combination of selectable machine mechanisms, including drivers, connecting shafts, clutches, gears and cams. Each such machine mechanism is represented virtually, preferably as a software module that contains information uniquely identifying the module, operation information that defines the generation of position information and connection information that defines other modules to which connection is made. The software modules comprise drive modules for generating position information, transmission modules for simulating the transmission mechanisms and output modules for outputting motor commands. The combinations of such modules for control of a motor may be considered as a block and a plurality of blocks can define the control of a machine that requires a plurality of motors for operation. The modules may be interactively defined by an operator with the use of a display system that presents an operator with a standard module menu, using graphics or icons that identify each module function, and permits the operator to select desired modules, define parameters and input values as may be appropriate. The display system also permits the modules to be combined in desired arrangements of one or more blocks, and connection information among modules to be thereby established. The assembled blocks, based on the input parameters and values, the generated connection information and the operational expressions for each included module, form the basis for the automatic generation of a program that emulates the machine's operation. The program may be used as the basis for control of the one or more servo motors that combine to establish the machine's operation.
Inventors
- 👤 Yoshichika c/o MITSUBISHI DENKI K. K. Takizawa
- 👤 Yasuyuki c/o MITSUBISHI DENKI K. K. Suzuki
- 👤 Misako c/o MITSUBISHI DENKI K. K. Okada
- 👤 Makoto c/o MITSUBISHI DENKI K. K. Nishimura
- 👤 Hidehiko c/o MITSUBISHI DENKI K. K. Matsumoto
- 👤 Yasuharu c/o Nagoya Division of Mitsub. Kudo
- 👤 Tohru c/o Nagoya Division of Mitsub. Tsujimoto
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-02 10:55
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/406; G05B19/4069; B; B65; B65G; B65G43/00; B65G43/08; B65H; B65H23/00; B65H23/04; B65H23/048; G05B19/414; G05B19/4147; G05B19/418; G05B19/41815; G05B19/4182; B65H2511/00; B65H2511/20; B65H2511/23; B65H2555/00; B65H2555/20; B65H2555/24; B65H2557/00; B65H2557/20; B65H2557/23; G05B2219/00; G05B2219/30; G05B2219/32; G05B2219/32137; G05B2219/36; G05B2219/36025; G05B2219/36143; G05B2219/43; G05B2219/43174; Y; Y02; Y02P; Y02P90/00; Y02P90/02; Y10; Y10S; Y10S706/00; Y10S706/902; Y10S706/919; Y10S706/92
Claims Analysis
Total Claims: 128
Claim 1
Independent Claim
126 words
A positioning apparatus comprising a first plurality of motors for driving objects to be controlled on a machine and a controller for drive-controlling said motors for synchronously positioning said objects to be controlled, said controller comprising at least one drive software module operative to generate and output position information for synchronously drive-controlling said motors, a second plurality of transmission software modules for operating on at least one of input information and said position information and outputting the results as transmission information, and a third plurality of output software modules for operating on at least one of input information and transmission information and outputting the results as drive control commands for said motors, said controller being operative to selectively combine said software modules and drive-control said motors.
Claim 2
Dependent Claim
126 words
A positioning apparatus comprising a first plurality of motors for driving objects to be controlled on a machine and a controller for drive-controlling said motors for synchronously positioning said objects to be controlled, said controller comprising at least one drive software module operative to generate and output position information for synchronously drive-controlling said motors, a second plurality of transmission software modules for operating on at least one of input information and said position information and outputting the results as transmission information, and a third plurality of output software modules for operating on at least one of input information and transmission information and outputting the results as drive control commands for said motors, said controller being operative to selectively combine said software modules and drive-control said motors.
Claim 3
Dependent Claim
26 words
A positioning apparatus as set forth in claim 1 wherein said selective combination of software modules comprises at least one drive module and one output module.
Claim 4
Dependent Claim
23 words
A positioning apparatus as set forth in claim 1 wherein said third plurality of output software modules is responsive to said transmission information.
Claim 5
Dependent Claim
27 words
A position apparatus as set forth in claim 1 wherein said input information comprises reference information which is provided to a plurality of said modules for synchronization.
Claim 6
Dependent Claim
59 words
A positioning apparatus comprising a plurality of positioning apparatuses as defined in claim 1, at least one positioning apparatus being a master and at least one positioning apparatus being a slave and further comprising communication means for transmitting said position information of said master positioning apparatus to said at least one slave positioning apparatus for synchronizing said positioning apparatuses.
Claim 7
Dependent Claim
51 words
A positioning apparatus comprising a plurality of positioning apparatuses as defined in claim 5, wherein said master positioning apparatus comprises a synchronous clock signal generating means and said communication means is operative to transmit said synchronous clock signal to said slave positioning apparatus for synchronizing said master and slave positioning apparatuses.
Claim 8
Dependent Claim
61 words
A positioning apparatus as defined in claim 1, wherein said drive software module comprises means for inputting machine position information from an external position detecting means, setting means for setting a constant for normalizing said input machine position information, and means for outputting a result generated on the basis of said machine position information and said constant as position address data.
Claim 9
Dependent Claim
38 words
A positioning apparatus as defined in claim 1, wherein said drive software module comprises position information generating means for generating position information in accordance with a programmed position information generating procedure and means for outputting said position information.
Claim 10
Dependent Claim
16 words
A positioning apparatus as defined in claim 8, wherein said drive software module represents a motor.
Claim 11
Dependent Claim
102 words
A positioning apparatus as defined in claim 1, wherein said transmission software module comprises input means for inputting position information and output means, at least one of said input and output means being operable in a selectable direction, means for setting a transmission constant employed to increment or decrement the position information of said input means, means for selecting the operating direction of at least one of said input means and output means, and means for providing to said output means a result generated on the basis of said position information of said input means, said transmission constant and said operating direction.
Claim 12
Dependent Claim
17 words
The positioning apparatus as defined in claim 10 wherein said transmission software module represents a gear mechanism.
Claim 13
Dependent Claim
16 words
The positioning apparatus as defined in claim 11 wherein said transmission constant comprises a gear ratio.
Claim 14
Dependent Claim
103 words
A positioning apparatus as defined in claim 10, wherein said transmission software module further comprises means for setting a valid range of transmission for the output means among position information input from said input means and means for outputting, via filtering means having a preset time constant, to said output means a first result of operating on said position information on the basis of the transmission constant and said operating directions if said input position information is within said valid range, and a second result of preserving the position information as it had been if said position information is outside said valid range.
Claim 15
Dependent Claim
18 words
The positioning apparatus as defined in claim 13 wherein said transmission software module represents an intermittent gear mechanism.
Claim 16
Dependent Claim
16 words
The positioning apparatus as defined in claim 14 wherein said transmission constant comprises a gear ratio.
Claim 17
Dependent Claim
87 words
A positioning apparatus as defined in claim 1, wherein said transmission software module comprises input means for inputting position information, output means, means for inputting an ON or OFF command indicating whether or not the position information of said input means is transmitted to said output means, and means for outputting the position information of the input means intact to said output means if the ON command is given, and preserving the output of said output means as it had been if the OFF command is given.
Claim 18
Dependent Claim
17 words
The positioning apparatus as defined in claim 16 wherein said transmission software module represents a clutch mechanism.
Claim 19
Dependent Claim
139 words
A position apparatus as defined in claim 1, wherein said transmission software module comprises input means for inputting position information stored at a memory address, output means for providing an output, means for setting an ON address and an OFF address indicating whether or not the position information of said input means is transmitted to said output means, and means for preserving the output of said output means as it had been from a time when the position information address of said input means matches said OFF address to a time when said position information address matches said ON address, and outputting said position information address of said input means intact to said output means from a time when said position information address matches said ON address to a time when said position information address matches said OFF address.
Claim 20
Dependent Claim
25 words
The positioning apparatus as defined in claim 9 wherein said transmission software module represents a clutch mechanism that is selectably operable in accordance with position.
Claim 21
Dependent Claim
31 words
A positioning apparatus as defined in claim 16, wherein said transmission software module comprises means for providing an output to said output means via filtering means having a preset time constant.
Claim 22
Dependent Claim
31 words
A positioning apparatus as defined in claim 17, wherein said transmission software module comprises means for providing an output to said output means via filtering means having a preset time constant.
Claim 23
Dependent Claim
31 words
A positioning apparatus as defined in claim 18, wherein said transmission software module comprises means for providing an output to said output means via filtering means having a preset time constant.
Claim 24
Dependent Claim
31 words
A positioning apparatus as defined in claim 19, wherein said transmission software module comprises means for providing an output to said output means via filtering means having a preset time constant.
Claim 25
Dependent Claim
112 words
A positioning apparatus as defined in claim 1, wherein the transmission software module comprises input means and auxiliary input means for inputting position information, output means, means for setting a transmission constant and an auxiliary transmission constant employed to increment or decrement the position information of said input means and auxiliary input means and transmitted to said output means, and means for providing to said output means a result of subtracting a result of operating on said position information of said auxiliary input means on the basis of said auxiliary transmission constant from a result of operating on said position information of said input means on the basis of said transmission constant.
Claim 26
Dependent Claim
17 words
A positioning apparatus as defined in claim 24, wherein said transmission software module represents a differential gear.
Claim 27
Dependent Claim
22 words
A positioning apparatus as defined in claim 24, wherein the position information input to said auxiliary input means comprises a velocity command.
Claim 28
Dependent Claim
22 words
A positioning apparatus as defined in claim 25, wherein the position information input to said auxiliary input means comprises a velocity command.
Claim 29
Dependent Claim
23 words
A positioning apparatus as defined in claim 24, wherein the position information input to said auxiliary input means comprises position address table information.
Claim 30
Dependent Claim
23 words
A positioning apparatus as defined in claim 25, wherein the position information input to said auxiliary input means comprises position address table information.
Claim 31
Dependent Claim
74 words
A positioning apparatus as defined in claim 1, wherein said transmission software module comprises input means for inputting position information, output means, means for setting a transmission constant employed to increment or decrement the position information of said input means and transmitted to said output means, and means for outputting to said output means a result of operating on said position information of said input means on the basis of said transmission constant provided.
Claim 32
Dependent Claim
17 words
A positioning apparatus as defined in claim 30, wherein said transmission software module represents a speed changer.
Claim 33
Dependent Claim
49 words
A positioning apparatus as defined in claim 30, wherein the transmission software module comprises means for outputting via filtering means having a preset time constant to said output means a result of operating on said position information of said input means on the basis of said transmission constant provided.
Claim 34
Dependent Claim
49 words
A positioning apparatus as defined in claim 31, wherein the transmission software module comprises means for outputting via filtering means having a preset time constant to said output means a result of operating on said position information of said input means on the basis of said transmission constant provided.
Claim 35
Dependent Claim
37 words
A positioning apparatus as defined in claim 1, wherein the transmission software module comprises storing means for storing position information corresponding to a rotary angle as a table and output means for outputting said stored position information.
Claim 36
Dependent Claim
16 words
A positioning apparatus as defined in claim 34, wherein said transmission software module represents a cam.
Claim 37
Dependent Claim
83 words
A positioning apparatus as defined in claim 34, wherein said transmission software module comprises means for setting a reference rotary angle, detecting means for detecting a current rotary angle, storing means for storing as an offset the position information output by said output means when the rotary angle detected by said detecting means passes said reference rotary angle, and wherein said output means is operative to add the position information corresponding to the rotary angle to said stored offset and outputting the result.
Claim 38
Dependent Claim
17 words
A positioning apparatus as defined in claim 36, wherein said transmission software module represents a feeding cam.
Claim 39
Dependent Claim
72 words
A positioning apparatus as defined in claim 34, wherein the transmission software module comprises means for setting a reference rotary angle, detecting means for detecting the rotary angle, means for setting a constant employed to increment or decrement the position information, and output means for outputting a result of multiplying the position information by said constant from when the rotary angle detected by said detecting means has passed said reference rotary angle.
Claim 40
Dependent Claim
72 words
A positioning apparatus as defined in claim 35, wherein the transmission software module comprises means for setting a reference rotary angle, detecting means for detecting the rotary angle, means for setting a constant employed to increment or decrement the position information, and output means for outputting a result of multiplying the position information by said constant from when the rotary angle detected by said detecting means has passed said reference rotary angle.
Claim 41
Dependent Claim
73 words
A positioning apparatus as defined in claim 1, wherein said output software module comprises input means for inputting position information, setting means for presetting the diameter of a rotator, output means for operating on said input position information and outputting the result as a motor drive control command, and auxiliary output means for operating on the peripheral velocity of said rotator from said position information and said preset diameter and outputting the result.
Claim 42
Dependent Claim
17 words
A positioning apparatus as defined in claim 40, wherein said transmission software module represents a roller mechanism.
Claim 43
Dependent Claim
56 words
A positioning apparatus as defined in claim 1, wherein said output software module comprises input means for inputting position information, setting means for presetting a compensation value, and output means for carrying out operation on the basis of said input position information and said compensation value and outputting the result as a motor drive control command.
Claim 44
Dependent Claim
18 words
A positioning apparatus as defined in claim 42, wherein said transmission software module represents a ball screw mechanism.
Claim 45
Dependent Claim
18 words
A positioning apparatus as defined in claim 42, wherein said transmission software module represents a rotary table mechanism.
Claim 46
Dependent Claim
59 words
A positioning apparatus as defined in claim 1, wherein said output software module comprises input means for inputting position information, output means for operating on said input position information and outputting the result as a motor drive control command, and auxiliary output means for operating on said position information, converting it into unit-based position information, and outputting the result.
Claim 47
Dependent Claim
18 words
A positioning apparatus as defined in claim 45, wherein said transmission software module represents a ball screw mechanism.
Claim 48
Dependent Claim
18 words
A positioning apparatus as defined in claim 45, wherein said transmission software module represents a rotary table mechanism.
Claim 49
Dependent Claim
55 words
A positioning apparatus as defined in claim 1, wherein said output software module comprises input means for inputting position information and a motor torque limit value, output means for operating on said input position information and outputting the result as a motor drive control command, and auxiliary output means for outputting said torque limit value.
Claim 50
Dependent Claim
18 words
A positioning apparatus as defined in claim 48, wherein said transmission software module represents a torque converter mechanism.
Claim 51
Dependent Claim
78 words
A positioning apparatus as defined in claim 1, further comprising position information generating and outputting means for generating and outputting position information in accordance with a programmed position information generating procedure, switching means for switching between (i) said position information generating and outputting means and (ii) software module-based position information generating and outputting means, and compensating means for compensating for a difference between position information output by said two position information generating and outputting means when switched over.
Claim 52
Dependent Claim
60 words
A positioning apparatus as defined in claim 1, further comprising starting address storing means for storing a position information address from where the motor is started and comparing means for comparing said starting address and the position information address output by the drive software module, and wherein the motor is started when said position information address matches said starting address.
Claim 53
Dependent Claim
113 words
A positioning apparatus as defined in claim 50, further comprising comparing means for comparing a difference between the drive control command to the motor and the feedback value of position detecting means connected to the motor with a preset upper limit value, and output means for stopping the output if the position information is generated and output in accordance with the programmed position information generating procedure and stopping the output thereof and outputting a stop command to a machine driving apparatus if the position information is generated and output by the software module in synchronization with the position information of the machine, when the result of comparison has exceeded said upper limit value.
Claim 54
Dependent Claim
100 words
A positioning apparatus as defined in claim 50, further comprising comparing means for comparing a current position with at least one preset position limit value, and output means for stopping the output of position information if the position information is generated and output in accordance with the programmed position information generating procedure and stopping the output thereof and outputting a stop command to a machine driving apparatus if the position information is generated and output by the software module in synchronization with the position information of the machine, when the result of comparison has exceeded either of said limit values.
Claim 55
Dependent Claim
94 words
A positioning apparatus as defined in claim 50, further comprising comparing means for comparing a motor velocity with preset velocity limit values, and output means for stopping the output if the position information is generated and output in accordance with the programmed position information generating procedure and stopping the output thereof and outputting a stop command to a machine driving apparatus if the position information is generated and output by the software module in synchronization with the position information of the machine, when the result of comparison has exceeded either of said limit values.
Claim 56
Dependent Claim
115 words
A positioning apparatus as defined in claim 50, further comprising setting means for setting a permissible range, comparing means for comparing drive software module-output position information found by reverse calculation of the output of the output software module with actual drive software module-output position information, and outputting means for stopping the output if the position information is generated and output in accordance with the programmed position information generating procedure and stopping the output thereof and outputting a stop command to a machine driving apparatus if the position information is generated and output by the software module in synchronization with the position information of the machine, when the result of comparison has exceeded said permissible range.
Claim 57
Dependent Claim
21 words
A positioning apparatus as defined in claim 55, wherein the output control is used for monitoring the performance of the apparatus.
Claim 58
Dependent Claim
25 words
A positioning apparatus as defined in claim 55, wherein the output control is used for diagnostic purposes with respect to the performance of the apparatus.
Claim 59
Dependent Claim
32 words
A positioning apparatus as defined in claim 52, further comprising setting means for selecting between the validity and invalidity of a stop when the result of comparison has exceeded the limit value.
Claim 60
Dependent Claim
32 words
A positioning apparatus as defined in claim 53, further comprising setting means for selecting between the validity and invalidity of a stop when the result of comparison has exceeded the limit value.
Claim 61
Dependent Claim
32 words
A positioning apparatus as defined in claim 54, further comprising setting means for selecting between the validity and invalidity of a stop when the result of comparison has exceeded the limit value.
Claim 62
Dependent Claim
32 words
A positioning apparatus as defined in claim 55, further comprising setting means for selecting between the validity and invalidity of a stop when the result of comparison has exceeded the limit value.
Claim 63
Dependent Claim
125 words
A program display method for a positioning apparatus including a block displaying drive software modules for generating and outputting position information referenced for drive-controlling motors synchronously by means of graphics showing drivers, such as motors, a block displaying transmission software modules for operating on the input information and outputting the result as transmission information by means of graphics showing transmission mechanisms, such as clutches, gears and cams, and a block displaying output software modules for operating on the input information and outputting the results as drive control commands for said motors by means of graphics showing output mechanisms, such as a ballscrew and a rotary table, said blocks optionally combined on a display to create a program and the motors drive-controlled by said created program.
Claim 64
Dependent Claim
125 words
A program display method for a positioning apparatus including a block displaying drive software modules for generating and outputting position information referenced for drive-controlling motors synchronously by means of graphics showing drivers, such as motors, a block displaying transmission software modules for operating on the input information and outputting the result as transmission information by means of graphics showing transmission mechanisms, such as clutches, gears and cams, and a block displaying output software modules for operating on the input information and outputting the results as drive control commands for said motors by means of graphics showing output mechanisms, such as a ballscrew and a rotary table, said blocks optionally combined on a display to create a program and the motors drive-controlled by said created program.
Claim 65
Independent Claim
146 words
A method of establishing software-based, variable and synchronous control of a plurality of motors comprising: defining plural virtual modules comprising a first plurality of drive modules for generating and outputting position information, a second plurality of transmission modules for simulating transmission mechanisms and a plurality of output modules for outputting motor commands, each said module comprising a first addressable area for storing data uniquely identifying said module, a second addressable area for storing data identifying module connection information and a third addressable area for storing an operation expression or position program to generate position information; defining a plurality of blocks of said modules, each block comprising the combination of at least a transmission module and an output module for a respective one of said motors; and establishing communication among said modules by specifying and storing said connection information in said second addressable area of each module.
Claim 66
Independent Claim
146 words
A method of establishing software-based, variable and synchronous control of a plurality of motors comprising: defining plural virtual modules comprising a first plurality of drive modules for generating and outputting position information, a second plurality of transmission modules for simulating transmission mechanisms and a plurality of output modules for outputting motor commands, each said module comprising a first addressable area for storing data uniquely identifying said module, a second addressable area for storing data identifying module connection information and a third addressable area for storing an operation expression or position program to generate position information; defining a plurality of blocks of said modules, each block comprising the combination of at least a transmission module and an output module for a respective one of said motors; and establishing communication among said modules by specifying and storing said connection information in said second addressable area of each module.
Claim 67
Dependent Claim
33 words
The method of claim 63 further comprising, on the basis of said established communication, composing the functions of all modules in a block into a block operation expression and storing said operation expression.
Claim 68
Dependent Claim
27 words
The method of claim 63 wherein said defining step further comprises defining a fourth addressable area for at least one of said modules for storing auxiliary information.
Claim 69
Dependent Claim
33 words
The method of claim 63 wherein said defining step further comprises defining a fifth addressable area for at least one of said modules for storing one or more of variable and parameter information.
Claim 70
Dependent Claim
54 words
The method of claim 64 further comprising for a block composition, beginning with said output module and proceeding toward a source of position information on the basis of said connection information, transferring each said virtual mechanical module from a first memory storing said modules to a second memory area for storing said operation expression.
Claim 71
Dependent Claim
17 words
The method of claim 64 wherein said composing step is performed for each of said plural blocks.
Claim 72
Dependent Claim
17 words
The method of claim 68 wherein said composing steps are conducted on the basis of block number.
Claim 73
Dependent Claim
36 words
The method of claim 63 further comprising, on the basis of said established communication, combining plural modules, on the basis of a composition of their functions into a virtual mechanical module expression and storing said expression.
Claim 74
Dependent Claim
24 words
The method of claim 63 wherein said virtual drive module is represented by the operation expression: where y: output x: input, and i: variable.
Claim 75
Dependent Claim
27 words
The method of claim 63 wherein said virtual transmission module is represented by the operation expression: where y: output, x: input, z: auxiliary input, and h: variable.
Claim 76
Dependent Claim
30 words
The method of claim 63 wherein said virtual output module is represented by the operation expression: where Y: servo output, x: input, P: auxiliary output, k: variable, and i: variable.
Claim 77
Independent Claim
187 words
A method of providing software-based, synchronous control of a plurality of motors in a machine on the basis of plural virtual mechanical modules comprising at least one each of drive modules for generating and outputting position information, transmission modules for simulating transmission mechanisms, and output modules for outputting motor commands, at least said transmission and output modules each comprising an operation expression or position program to generate output position information in response to input position information, certain of said modules being organized as a plurality of ordered blocks, each block comprising at least a transmission module and an output module for a respective one of said motors and having a block operation expression, said method comprising: operating on the operation expressions or position programs of each said drive modules and storing the results of said operation as drive module output information; operating on each block in accordance with the block operation expression of each block on the basis of at least said corresponding drive module output information and storing the results of said operation as servo output information; and outputting said servo output information to said motors.
Claim 78
Independent Claim
187 words
A method of providing software-based, synchronous control of a plurality of motors in a machine on the basis of plural virtual mechanical modules comprising at least one each of drive modules for generating and outputting position information, transmission modules for simulating transmission mechanisms, and output modules for outputting motor commands, at least said transmission and output modules each comprising an operation expression or position program to generate output position information in response to input position information, certain of said modules being organized as a plurality of ordered blocks, each block comprising at least a transmission module and an output module for a respective one of said motors and having a block operation expression, said method comprising: operating on the operation expressions or position programs of each said drive modules and storing the results of said operation as drive module output information; operating on each block in accordance with the block operation expression of each block on the basis of at least said corresponding drive module output information and storing the results of said operation as servo output information; and outputting said servo output information to said motors.
Claim 79
Independent Claim
131 words
A method of providing software-based, synchronous control of a plurality of motors in a machine on the basis of plural virtual mechanical modules comprising at least one block operative to generate and output position information, simulate transmission mechanisms, and output motor commands, said block comprising an operation expression or position program to generate output position information in response to input position information, said method comprising: operating on the operation expressions or position programs of said block and storing the results of said operation as drive output information; operating on each block in accordance with the block operation expression of each block on the basis of at least said drive output information and storing the results of said operation as servo output information; and outputting said servo output information to said motors.
Claim 80
Independent Claim
131 words
A method of providing software-based, synchronous control of a plurality of motors in a machine on the basis of plural virtual mechanical modules comprising at least one block operative to generate and output position information, simulate transmission mechanisms, and output motor commands, said block comprising an operation expression or position program to generate output position information in response to input position information, said method comprising: operating on the operation expressions or position programs of said block and storing the results of said operation as drive output information; operating on each block in accordance with the block operation expression of each block on the basis of at least said drive output information and storing the results of said operation as servo output information; and outputting said servo output information to said motors.
Claim 81
Dependent Claim
28 words
The method of claim 75 wherein said block operation results comprise auxiliary output information and further comprises storing said auxiliary information separately from said servo output position information.
Claim 82
Dependent Claim
19 words
The method of claim 76 further comprising accessing said auxiliary information and monitoring the results of said motor operation.
Claim 83
Dependent Claim
94 words
The method of claim 75, wherein at least one of said blocks defines a virtual operation of motors in response to a master position controller and at least one of said blocks defines a virtual operation of motors in response to a slave position controller, said motors being operated in synchronization with each other, further comprising: creating virtual drive module output position information in said master controller, transmitting said information to said slave controller; and storing said information for use by the respective blocks of said master and slave controllers in executing position programs.
Claim 84
Dependent Claim
33 words
The method of claim 78 wherein the execution of said programs and said the transmission of said results to motor servo amplifiers in each said controllers is conducted in separate, synchronized time intervals.
Claim 85
Dependent Claim
22 words
The method of claim 75 further comprising providing the same position information to plural ones of said transmission modules for synchronization thereof.
Claim 86
Dependent Claim
24 words
The method of claim 80 further comprising providing synchronous clock signals at said master controller and transmitting said clock signals to said slave controller.
Claim 87
Dependent Claim
60 words
The method of claim 75 wherein said machine comprises position detecting means mounted thereon, comprising: inputting to said drive software module said machine position information from said position detecting means; setting a constant for normalizing said input machine position information; and outputting a result generated on the basis of said machine position information and said constant as position address data.
Claim 88
Independent Claim
83 words
The method of operating a virtual module in a positioning apparatus for motors using a memory having a program area, a work area and a output area comprising: transferring a specified positioning program from said program memory area to a work memory area, optionally transferring at least one of specified variables and parameters to said work memory area, decoding said program, operating on position information with said program and said optionally transferred parameters and variables, and storing the result in said output area.
Claim 89
Independent Claim
83 words
The method of operating a virtual module in a positioning apparatus for motors using a memory having a program area, a work area and a output area comprising: transferring a specified positioning program from said program memory area to a work memory area, optionally transferring at least one of specified variables and parameters to said work memory area, decoding said program, operating on position information with said program and said optionally transferred parameters and variables, and storing the result in said output area.
Claim 90
Dependent Claim
25 words
The method of operating a virtual module as set forth in claim 83 further comprising repeating said steps at predetermined intervals until positioning is complete.
Claim 91
Independent Claim
97 words
The method of operating a virtual mechanical module on the basis of address control comprising: reading input position address information in accordance with connection information, optionally reading parameter and variable information addresses, calculating a position address within a predefined input movement range, determining whether said address is within a range of valid addresses, operating on an operational expression using said input address information and optionally using said parameter and variable information, defining current values as preceding values, storing said values in an input preceding value address area, and storing an operation result in an output address area.
Claim 92
Independent Claim
97 words
The method of operating a virtual mechanical module on the basis of address control comprising: reading input position address information in accordance with connection information, optionally reading parameter and variable information addresses, calculating a position address within a predefined input movement range, determining whether said address is within a range of valid addresses, operating on an operational expression using said input address information and optionally using said parameter and variable information, defining current values as preceding values, storing said values in an input preceding value address area, and storing an operation result in an output address area.
Claim 93
Independent Claim
61 words
A method of operating a drive software module in a positioning apparatus for driving and controlling a motor used to move a machine comprising: detecting machine position and providing machine position information, setting a constant for normalizing said machine position information, and outputting a result generated on the basis of said machine position information and said constant as position address data.
Claim 94
Independent Claim
61 words
A method of operating a drive software module in a positioning apparatus for driving and controlling a motor used to move a machine comprising: detecting machine position and providing machine position information, setting a constant for normalizing said machine position information, and outputting a result generated on the basis of said machine position information and said constant as position address data.
Claim 95
Independent Claim
41 words
A method of operating a drive software module in a positioning apparatus for driving and controlling a motor used to move a machine comprising: generating position information in accordance with a programmed position information generating procedure, and outputting said position information.
Claim 96
Independent Claim
41 words
A method of operating a drive software module in a positioning apparatus for driving and controlling a motor used to move a machine comprising: generating position information in accordance with a programmed position information generating procedure, and outputting said position information.
Claim 97
Independent Claim
132 words
A method of operating a transmission software module representing a gear in a virtual positioning apparatus for controlling a motor comprising: inputting position information stored at a memory address, setting an ON address and an OFF address indicating whether or not said input position information shall be transmitted to an output of said module, and preserving the output content of said module as it had been from a time when the memory address of said inputted position information matches said OFF address to a time when said position information address matches said ON address, and outputting said memory address of said inputted position information to said output intact from a time when said position information address matches said ON address to a time when said position information address matches said OFF address.
Claim 98
Independent Claim
132 words
A method of operating a transmission software module representing a gear in a virtual positioning apparatus for controlling a motor comprising: inputting position information stored at a memory address, setting an ON address and an OFF address indicating whether or not said input position information shall be transmitted to an output of said module, and preserving the output content of said module as it had been from a time when the memory address of said inputted position information matches said OFF address to a time when said position information address matches said ON address, and outputting said memory address of said inputted position information to said output intact from a time when said position information address matches said ON address to a time when said position information address matches said OFF address.
Claim 99
Dependent Claim
22 words
The method as defined in claim 88, further comprising filtering said output content via a filtering function having a preset time constant.
Claim 100
Independent Claim
103 words
The method of operating a transmission software module representing a differential gear in a virtual positioning apparatus for controlling a motor comprising: inputting primary and auxiliary position information, setting a primary transmission constant and an auxiliary transmission constant employed to increment or decrement said inputted primary and auxiliary position information, respectively, operating on said auxiliary position information on the basis of said auxiliary transmission constant to produce a first result and operating on said primary position information on the basis of said primary transmission constant to produce a second result, subtracting said first result from said second result, and outputting said subtraction result.
Claim 101
Independent Claim
103 words
The method of operating a transmission software module representing a differential gear in a virtual positioning apparatus for controlling a motor comprising: inputting primary and auxiliary position information, setting a primary transmission constant and an auxiliary transmission constant employed to increment or decrement said inputted primary and auxiliary position information, respectively, operating on said auxiliary position information on the basis of said auxiliary transmission constant to produce a first result and operating on said primary position information on the basis of said primary transmission constant to produce a second result, subtracting said first result from said second result, and outputting said subtraction result.
Claim 102
Independent Claim
56 words
The method of operating a transmission software module representing a speed change mechanism in a positioning apparatus for a motor comprising: inputting position information, setting a transmission constant employed to increment or decrement said position information, operating on said position information on the basis of said transmission constant to produce a result, and outputting said result.
Claim 103
Independent Claim
56 words
The method of operating a transmission software module representing a speed change mechanism in a positioning apparatus for a motor comprising: inputting position information, setting a transmission constant employed to increment or decrement said position information, operating on said position information on the basis of said transmission constant to produce a result, and outputting said result.
Claim 104
Independent Claim
45 words
The method of operating a transmission software module representing a cam mechanism in a positioning apparatus for a motor comprising: inputting position information corresponding to rotary angle, storing said position information corresponding to a rotary angle as a table, and outputting said stored position information.
Claim 105
Independent Claim
45 words
The method of operating a transmission software module representing a cam mechanism in a positioning apparatus for a motor comprising: inputting position information corresponding to rotary angle, storing said position information corresponding to a rotary angle as a table, and outputting said stored position information.
Claim 106
Dependent Claim
55 words
A method as defined in claim 92, further comprising: setting a reference rotary angle, detecting a current rotary angle, storing as an offset the position information output when the detected rotary angle passes said reference rotary angle, and adding the position information corresponding to the rotary angle to said stored offset and outputting the result.
Claim 107
Independent Claim
49 words
The method of operating an output software module in a positioning apparatus for control of a motor comprising: inputting position information, presetting a compensation value, and operating on the basis of said input position information and said compensation value and outputting the result as a motor drive control command.
Claim 108
Independent Claim
49 words
The method of operating an output software module in a positioning apparatus for control of a motor comprising: inputting position information, presetting a compensation value, and operating on the basis of said input position information and said compensation value and outputting the result as a motor drive control command.
Claim 109
Independent Claim
70 words
The method of operating an output software module in a positioning apparatus for control of a motor comprising: inputting position information, operating on said input position information with a first function, operating on said input position information with a second function and converting said result into unit-based position information, and outputting the result of operating with said first function as a motor drive control command and said unit-based position information.
Claim 110
Independent Claim
70 words
The method of operating an output software module in a positioning apparatus for control of a motor comprising: inputting position information, operating on said input position information with a first function, operating on said input position information with a second function and converting said result into unit-based position information, and outputting the result of operating with said first function as a motor drive control command and said unit-based position information.
Claim 111
Independent Claim
27 words
The method of any one of claims 63-69 further comprising displaying said modules and block composition and performing said method interactively on the basis of such displaying.
Claim 112
Dependent Claim
20 words
The method of claim 96 further comprising representing each of said modules on a display by predetermined mechanical system images.
Claim 113
Dependent Claim
22 words
The method of claim 97 further comprising representing the combination of said modules on a display as mechanically linked mechanical system images.
Claim 114
Independent Claim
158 words
A method of interactively defining a virtual positioning control system for a positioning apparatus for a plurality of motors comprising: displaying at least one predetermined mechanical system image representing a corresponding drive software module for generating and outputting position information referenced for drive-controlling motors synchronously; displaying at least one of a plurality of predetermined mechanical system images each representing a corresponding transmission software module for operating on said position information and outputting the result as transmission information; displaying at least one of a plurality of predetermined mechanical system images each representing a corresponding output software module for operating on at least one of said transmission information and said position information and outputting the results as drive control commands for said motors, optionally selecting said images interactively with said displaying steps, optionally combining the modules represented by said displayed images, creating a program from the modules represented by said images, and drive controlling said motors with said created program.
Claim 115
Independent Claim
158 words
A method of interactively defining a virtual positioning control system for a positioning apparatus for a plurality of motors comprising: displaying at least one predetermined mechanical system image representing a corresponding drive software module for generating and outputting position information referenced for drive-controlling motors synchronously; displaying at least one of a plurality of predetermined mechanical system images each representing a corresponding transmission software module for operating on said position information and outputting the result as transmission information; displaying at least one of a plurality of predetermined mechanical system images each representing a corresponding output software module for operating on at least one of said transmission information and said position information and outputting the results as drive control commands for said motors, optionally selecting said images interactively with said displaying steps, optionally combining the modules represented by said displayed images, creating a program from the modules represented by said images, and drive controlling said motors with said created program.
Claim 116
Dependent Claim
46 words
The method of claim 99 wherein each of said modules is represented in software by at least connection data and operational expressions for its mechanical function and further comprises, in response to said combining step, identifying said connection data of one module in a combined module.
Claim 117
Dependent Claim
29 words
The method of claim 100 wherein a module is responsive to selectable variables, said method further comprising, entering said selectable variable for a module represented by a displayed image.
Claim 118
Dependent Claim
21 words
The method of claim 101 further comprising executing said program on the basis of said entered variables and input positioning information.
Claim 119
Dependent Claim
15 words
The method of claim 101 wherein said representations of a mechanical positioning system are changeable.
Claim 120
Dependent Claim
26 words
The method of claim 101 wherein said modules are represented in a standardized format and when combined produce a visual and electronic representation of complex systems.
Claim 121
Dependent Claim
19 words
The method of claim 99 further comprising displaying images of said optionally combined modules in a mechanically representative arrangement.
Claim 122
Dependent Claim
20 words
The method of claim 99 wherein said combining step comprises writing module number and connection information into a program memory.
Claim 123
Dependent Claim
19 words
The method of claim 106 wherein said combining step further comprises writing parameters or variables into a program memory.
Claim 124
Independent Claim
18 words
The method of any one of claims 63 - 69 further comprising displaying said modules and block compositions.
Claim 125
Dependent Claim
32 words
The method of claim 108 comprising displaying said modules as graphic images of conventional mechanical devices and displaying said blocks as combinations of said mechanical images, mechanically connected in a conventional manner.
Claim 126
Dependent Claim
20 words
The method of claim 99 wherein said displaying steps are for purposes of at least module selection by an operator.
Claim 127
Independent Claim
94 words
A method of visually defining a virtual positioning control system for a positioning apparatus for a plurality of motors comprising: displaying a plurality of predetermined mechanical system images representing corresponding drive, transmission and output software modules optionally selecting said displayed images, optionally moving and combining said images for each module into a mechanically cooperative arrangement, opening a display window for entry of parameters or variables relevant to the displayed module images, creating a program from the modules represented by said images, using said entered information, and drive controlling said motors with said created program.
Claim 128
Independent Claim
94 words
A method of visually defining a virtual positioning control system for a positioning apparatus for a plurality of motors comprising: displaying a plurality of predetermined mechanical system images representing corresponding drive, transmission and output software modules optionally selecting said displayed images, optionally moving and combining said images for each module into a mechanically cooperative arrangement, opening a display window for entry of parameters or variables relevant to the displayed module images, creating a program from the modules represented by said images, using said entered information, and drive controlling said motors with said created program.
References Cited (Backward Citations)
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