US3609323A
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Interpolating servomechanism control system with operations carried out in binary coded decimal format due to a {37 plus-six{38 {0 correction factor
Assignee: Bendix Corp
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Filing: 1969-05-23
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Granted: 1971-09-28
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Expires: 1989-05-23
Abstract
Abstract An electronic position control system for use for controlling continuous path machining operations wherein a cutting tool is moved relatively to a workpiece along a path which depends on the component motions of the servomechanisms moving the cutting tool and the workpiece relatively to each other. The individual servomechanisms displacing the cutting tool and the workpiece relatively to each other along each axis are adapted to be actuated by a controller according to the number of pulses received at their input, and the pulses are derived from input numerical data in binary coded decimal form indicating the increments of motion to the final relative position of the cutting tool, such numerical data being continually added one digit at a time to a remainder and each pulse supplied to each servomechanism being the result from the overflow of such addition. Each time a carry occurs, or a sum greater than nine is obtained for a digit, the number six is automatically added to the addition remainder to provide an arithmetically correct sum in binary coded decimal form which is stored in the remainder register for further addition with the integrand until an appropriate number of pulses in each train is supplied at the output of the controller.
Inventors
- 👤 George H Mcdaniel
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 09:06
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/41; G05B19/4103; G05B19/19; G05B19/39
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
308 words
An electronic system for use with servomechanisms, said system being operative To receive numerical data including blocks of information associated with particular paths to be followed by said servomechanisms, each block containing at least two numbers expressed in binary coded decimal form and representing vector coordinates of a point on said path taken along the axes which said servomechanisms may move and a code signal representing the nature of such path, either linear or nonlinear, said system being operative to generate pulse trains equal in number to said servomechanisms, each train containing a number of pulses proportional to the path distance along a particular coordinate, the pulses of each train occurring at instantaneous rates which are proportional to the necessary motion rate of the associated servomechanism at that instant, said system comprising: a first register for each of said servomechanisms and operative to store each of said numbers in its binary coded decimal form; a first adder; control means for initially storing each of said numbers a binary coded digit at a time in said first adder; control means for transferring an integrand for generating a pulse in a particular pulse train when overflow occur from the most significant digit following addition in said first adder; a second adder; means for transferring the remainder of the addition of said binary coded digit and said integrand from said first adder to said second adder; means for adding binary coded digit six to said remainder in said second adder each time the summation of said first adder is greater than nine and each time said overflow occurs; a second register for each said first register; control means for transferring the remainder from said second adder to said second register; and means for further transferring said remainder from said second register to said first adder for further addition with said integrand.
Claim 2
Dependent Claim
308 words
An electronic system for use with servomechanisms, said system being operative To receive numerical data including blocks of information associated with particular paths to be followed by said servomechanisms, each block containing at least two numbers expressed in binary coded decimal form and representing vector coordinates of a point on said path taken along the axes which said servomechanisms may move and a code signal representing the nature of such path, either linear or nonlinear, said system being operative to generate pulse trains equal in number to said servomechanisms, each train containing a number of pulses proportional to the path distance along a particular coordinate, the pulses of each train occurring at instantaneous rates which are proportional to the necessary motion rate of the associated servomechanism at that instant, said system comprising: a first register for each of said servomechanisms and operative to store each of said numbers in its binary coded decimal form; a first adder; control means for initially storing each of said numbers a binary coded digit at a time in said first adder; control means for transferring an integrand for generating a pulse in a particular pulse train when overflow occur from the most significant digit following addition in said first adder; a second adder; means for transferring the remainder of the addition of said binary coded digit and said integrand from said first adder to said second adder; means for adding binary coded digit six to said remainder in said second adder each time the summation of said first adder is greater than nine and each time said overflow occurs; a second register for each said first register; control means for transferring the remainder from said second adder to said second register; and means for further transferring said remainder from said second register to said first adder for further addition with said integrand.
Claim 3
Dependent Claim
23 words
The system of claim 1 wherein said integrand is each of said numbers stored in said first registers and said path is linear.
Claim 4
Dependent Claim
18 words
The system of claim 1 wherein said integrand is a constantly variable number and said path is nonlinear.
Claim 5
Dependent Claim
225 words
An electronic system operative to receive numerical data including at least a first plurality of numbers in binary coded decimal form representative of distances along mutually perpendicular axes and a signal indicating whether a curve which said numbers relate to is linear or nonlinear and to generate a first plurality of trains of pulses, said system comprising: a first register for each axis for receiving each of said numbers in binary coded decimal form; first adding means for adding each of said numbers a binary coded digit at a time to an integrand; means for detecting an overflow from the most significant digit as a result of adding said binary coded digit with said integrand; means for generating a pulse in a particular pulse train each time an overflow occurs from the most significant digit; second adding means for adding six units in binary coded form to the remainder of the addition of each binary coded digit of said number and said integrand each time said overflow occurs and each time said remainder is greater than nine; and means for storing the remainder from the second addition for continuously adding said last mentioned remainder to said integrand a binary coded digit at a time. 5 The system of claim 4 wherein said curve is linear and said integrand is the number in said first register.
Claim 6
Dependent Claim
20 words
The system of claim 4 wherein said curve is nonlinear and said integrand is generated from a nonlinear interpolation control.
Claim 7
Dependent Claim
225 words
An electronic system for controlling motion having as its input numerical data and providing output to a plurality of servomechanisms, said data including a plurality of blocks of information each relating to a particular motion to be achieved by said servomechanisms, each block including a plurality of numbers expressed in binary coded decimal digits representing distances along the axes controlled by said servomechanisms from a particular point on a path to be followed by sAid servomechanisms to a reference point, which varies from block to block, said system comprising: first registers for receiving said numbers one binary coded digit at a time; a summation register for each of said servomechanisms; means for adding said binary coded digits one at a time to an integrand; means for detecting an overflow resulting from said first addition; means for adding the remainder of said first addition to a binary coded six each time a 10 carry is detected and each time an overflow occurs; means for storing the remainder of said second addition in one of said summation registers for continuous addition to said integrand and means to provide at least one pulse to said servomechanisms for each of said overflow and to terminate said additions when a sufficient number of pulses have been supplied to each servomechanism to achieve the motion dictated by the block of information.
Claim 8
Dependent Claim
225 words
An electronic system for controlling motion having as its input numerical data and providing output to a plurality of servomechanisms, said data including a plurality of blocks of information each relating to a particular motion to be achieved by said servomechanisms, each block including a plurality of numbers expressed in binary coded decimal digits representing distances along the axes controlled by said servomechanisms from a particular point on a path to be followed by sAid servomechanisms to a reference point, which varies from block to block, said system comprising: first registers for receiving said numbers one binary coded digit at a time; a summation register for each of said servomechanisms; means for adding said binary coded digits one at a time to an integrand; means for detecting an overflow resulting from said first addition; means for adding the remainder of said first addition to a binary coded six each time a 10 carry is detected and each time an overflow occurs; means for storing the remainder of said second addition in one of said summation registers for continuous addition to said integrand and means to provide at least one pulse to said servomechanisms for each of said overflow and to terminate said additions when a sufficient number of pulses have been supplied to each servomechanism to achieve the motion dictated by the block of information.
Claim 9
Dependent Claim
22 words
The system of claim 7 wherein said path is linear and said intergrand is each of said numbers in said first registers.
Claim 10
Dependent Claim
19 words
The system of claim 7 wherein said path is nonlinear and said integrand is supplied from an interpolation control.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1974-09-27 | 1975-03-29 | 1975-09-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1978-09-27 | 1979-03-29 | 1979-09-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1982-09-27 | 1983-03-29 | 1983-09-28 | $7700.00 | Window Closed / Lapsed |