US3703327A — Numerical control devices

Claim 1

Independent Claim 216 words

In a position control device for the continuous positioning of a member movable along at least two axes in accordance with discontinuous position orders which define axes of a circle belonging to the path which is to be followed, an interpolation unit operative through a succession of interpolation phases each of said phases being employed to compute a path segment which is tangential to one of said axis of a circle, said interpolation unit comprising: an input for receiving each coordinate (xi, yi) of the point from which each interpolation phase originates; first means connected to said input to divide each coordinate input by a predetermined factor K to generate relations (xi/K, yi/K) representing incremental displacement components referRed to the respective axes (y, x) along each of said segments of said path; second means connected to said first means to form during each interpolation phase summations ( Sigma xi/K, Sigma yi/K) of each of said incremental displacement components, said summations including the same number of terms and representing the components ( Delta yi, Delta xi) referred to said axes (y, x) of each of said segments of said path; and third means connected to said second means to form the sum of said path segment components ( Delta yi, Delta xi) over said successive interpolation phases.

Claim 2

Dependent Claim 216 words

In a position control device for the continuous positioning of a member movable along at least two axes in accordance with discontinuous position orders which define axes of a circle belonging to the path which is to be followed, an interpolation unit operative through a succession of interpolation phases each of said phases being employed to compute a path segment which is tangential to one of said axis of a circle, said interpolation unit comprising: an input for receiving each coordinate (xi, yi) of the point from which each interpolation phase originates; first means connected to said input to divide each coordinate input by a predetermined factor K to generate relations (xi/K, yi/K) representing incremental displacement components referRed to the respective axes (y, x) along each of said segments of said path; second means connected to said first means to form during each interpolation phase summations ( Sigma xi/K, Sigma yi/K) of each of said incremental displacement components, said summations including the same number of terms and representing the components ( Delta yi, Delta xi) referred to said axes (y, x) of each of said segments of said path; and third means connected to said second means to form the sum of said path segment components ( Delta yi, Delta xi) over said successive interpolation phases.

Claim 3

Dependent Claim 216 words

In a position control device for the continuous positioning of a member movable along at least two axes in accordance with discontinuous position orders which define axes of a circle belonging to the path which is to be followed, an interpolation unit operative through a succession of interpolation phases each of said phases being employed to compute a path segment which is tangential to one of said axis of a circle, said interpolation unit comprising: an input for receiving each coordinate (xi, yi) of the point from which each interpolation phase originates; first means connected to said input to divide each coordinate input by a predetermined factor K to generate relations (xi/K, yi/K) representing incremental displacement components referRed to the respective axes (y, x) along each of said segments of said path; second means connected to said first means to form during each interpolation phase summations ( Sigma xi/K, Sigma yi/K) of each of said incremental displacement components, said summations including the same number of terms and representing the components ( Delta yi, Delta xi) referred to said axes (y, x) of each of said segments of said path; and third means connected to said second means to form the sum of said path segment components ( Delta yi, Delta xi) over said successive interpolation phases.

Claim 4

Dependent Claim 216 words

In a position control device for the continuous positioning of a member movable along at least two axes in accordance with discontinuous position orders which define axes of a circle belonging to the path which is to be followed, an interpolation unit operative through a succession of interpolation phases each of said phases being employed to compute a path segment which is tangential to one of said axis of a circle, said interpolation unit comprising: an input for receiving each coordinate (xi, yi) of the point from which each interpolation phase originates; first means connected to said input to divide each coordinate input by a predetermined factor K to generate relations (xi/K, yi/K) representing incremental displacement components referRed to the respective axes (y, x) along each of said segments of said path; second means connected to said first means to form during each interpolation phase summations ( Sigma xi/K, Sigma yi/K) of each of said incremental displacement components, said summations including the same number of terms and representing the components ( Delta yi, Delta xi) referred to said axes (y, x) of each of said segments of said path; and third means connected to said second means to form the sum of said path segment components ( Delta yi, Delta xi) over said successive interpolation phases.

Claim 5

Dependent Claim 120 words

The combination as claimed in claim 1, wherein said interpolation unit further comprises means for stopping the formation of said summations ( Sigma (xi/K), Sigma (yi/K)) of said incremental displacement components and for ending the interpolation phase and initiating the calculation of summations of new incremental displacements ( Sigma (xi + 1)/K, Sigma (yi + 1)/K) to initiate a subsequent interpolation phase, such increments being obtained by dividing by K the coordinates xi 1, yi 1 of a point of one of said path segments defined by the relations: xi 1 xi + Delta xi yi + 1 yi + Delta yi when one of the summations ( Sigma (xi/K), Sigma (yi/K)) of incremental displacement components reaches a predetermined value.

Claim 6

Dependent Claim 49 words

The combination as claimed in claim 2, wherein said second means operates in a subsequent interpolation phase by adding to the summations of the incremental displacement components for the preceding phase in the event that said incremental displacement components did not reach said predetermined value in said preceding phase.

Claim 7

Dependent Claim 49 words

The combination as claimed in claim 2, wherein said predetermined value is selected so as to make the error incurred in the interpolation of a complete circle and given by the relation: epsilon c pi Square Root ( Sigma (xi/K)) 2+ ( Sigma (yi/K))2 less than a predetermined amount.

Claim 8

Dependent Claim 23 words

The combination as claimed in claim 4, wherein said predetermined value is equal to a unit selected in a metric system of measurement.

Claim 9

Dependent Claim 15 words

The combination as claimed in claim 5, wherein said unit is equal to 1 micron.

Claim 10

Dependent Claim 52 words

The combination as claimed in claim 1, wherein said first means is adapted to operate with a factor K whose value can be selected from a plurality of values, high values being selected for interpolating arcs of circles of high radius and small values for interpolating arcs of circles of small radius.

Claim 11

Dependent Claim 88 words

The combination as claimed in claim 1, wherein said second means comprises, for each displacement axis (x, y), a first summator, a first register for said summations and a second register for the coordinates of the points from which each interpolation phase originates, said coordinates being introduced into said second register by dividing them by K and said first summator operating so as to add, in successive periods of time, to the content of said first register an incremental displacement component (xi/K, yi/K) obtained from said second register.

Claim 12

Dependent Claim 49 words

The combination as claimed in claim 8, wherein for each displacement axis (x, y), there is a second summator operative to add, during each of said periods of time, to the content of said second register the sum generated by said first summator relative to the other coordinate axis.

Claim 13

Dependent Claim 43 words

The combination as claimed in claim 8, wherein said third means comprises for each displacement axis, a third summator and a third register, said third summator totalizing the summations computed by said first summator during successive interpolation phases For incrementing said third register.

Claim 14

Dependent Claim 99 words

The combination as claimed in claim 10, wherein each of said first summators is provided with a pair of outputs, to a first one of which there is applied the actual sum generated by said first summator and to the second of which there is applied the sum generated by said first summator only when said sum is equal to or greater than said unit, said first output of each of said first summators being connected to said associated first register said second output of each of said first summators being connected to said second and third associated summators.

Claim 15

Dependent Claim 94 words

The combination as claimed in claim 1, wherein the interpolation is effected in a series of interpolation cycles of constant duration ( Delta t) each comprising several interpolation phases, comprising fourth means operative to calculate during each of said cycles the summations ( Sigma (xi/K), Sigma (yi/K)) of said incremental displacement components, and to compare said summations with maximum displacement components ( Delta sxM, Delta sxM) to stop said interpolation unit when either: Delta sxM Sigma (yi/K) or Delta syM Sigma (xi/K) whereby the speed of said member does not exceed a predetermined speed.

Claim 16

Dependent Claim 90 words

The combination as claimed in claim 12, wherein said fourth means comprises a first summator, a first register for said summations and a second register connected to receive said incremental displacement components, said first summator being operative to add, in successive periods of time, to the content of said first register an incremental displacement component (xi/K, yi/K) obtained from said second register, one output of said summator being arranged to generate the sum computed by said summator only when said sum is equal to or greater than a predetermined unit.

Claim 17

Dependent Claim 38 words

The combination as claimed in claim 13, wherein said fourth means comprises a second summator connected to said output of said first summator and to a third register arranged to receive the sum computed by said second summator.

Claim 18

Dependent Claim 33 words

The combination as claimed in claim 14, wherein said third register is connected to a comparator to another input of which there are applied the maxim displacement components ( Delta sxM, Delta syM).

Claim 19

Dependent Claim 185 words

The combination as claimed in claim 1, including means operative to calculate the components (vx, vy) of the speed 98 of each point from which an interpolation cycle starts, comprising further means for effecting, simultaneously, two circular interpolations, a first relating to an arc of a circle of said path and the second relating to an arc of a circle concentric with said preceding circle and with a radius equal to the speed of a point on said path, said further means being operative to cause said first interpolation to start from a point on said circle of said path and to cause it to end at a point on one of the displacement axes (x, y) and to cause said second interpolation to start from a point on said displacement axis (x, y) and to cause it to end at a point on the radius which prsses through said point on the circle of the path, the components vx, vy of the speed of said point of the circle of the speed corresponding to the coordinates of the final point of said second interpolation.

Claim 20

Dependent Claim 32 words

The combination as claimed in claim 16, wherein said further means is arranged to effect said two interpolations with the same number of interpolation phases and in the same period of time.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	1975-11-21	1976-05-22	1976-11-21	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	1979-11-21	1980-05-22	1980-11-21	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	1983-11-21	1984-05-22	1984-11-21	$7700.00	Window Closed / Lapsed

Numerical control devices

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