Stepping motor acceleration and deceleration control

Claim 2

In a system comprising a digital computer, a stepping motor, means for coupling said motor and said computer, wherein said computer comprises means for indicating the number of times said motor is to be directed to step during a specified movement and a table stored in said computer, said table having a plurality of numbered locations for indicating selected periods of time between steps of said motor to achieve a selected rate of change of said motor''s velocity, a method comprising the steps of: A. changing the number of said means for indicating each time said motor is directed to step, said number corresponding to the number of times said motor is to be directed to step; B. changing the addressed location of said table each time said motor is directed to step; C. directing the stepping of said motor; and D. repeating said step of directing the stepping of said motor after waiting a period of time indicated by the table location addressed.

Claim 3

A method as defined in claim 1 wherein said period of time is indicated by the table location addressed prior to the step of directing the stepping of said motor.

Claim 4

A method as defined in claim 1 comprising the further steps of: A. determining whether said motor is to be accelerated; and B. using for said waiting period the period of time indicated by the table location addressed prior to the step of directing the stepping of said motor if said motor is to be accelerated.

Claim 5

A method as defined in claim 1 comprising the further steps of: A. Determining whether said motor is to be decelerated; and B. using for said waiting period the period of time indicated by the table location which corresponds in number to the number in said means for indicating if said motor is to be decelerated.

Claim 6

A method as defined in claim 1 comprising the additional steps of: A. determining whether the number in said means for indicating is smaller than the number of the table location addressed; B. using for said waiting period the period of time indicated by the table location addressed if said number in said means for indicating is smaller; and C. using for said waiting period the period of time indicated by the table location which corresponds in number to the number in said means for indicating if said number in said means for indicating is not smaller.

Claim 7

A method as defined in claim 5 further comprising the step of using the period of a specified velocity for said waiting period if said period of said specified velocity is greater than the one of said periods of time determined for use.

Claim 8

A method as defined in claim 1 further comprising the step of using the period of a specified velocity for said waiting period if said period of said specified velocity is greater than the period of time indicated by the table location addressed.

Claim 9

A method as defined in claim 1 wherein said step of changing the addressed location increments by one location said addressed location each time said motor is directed to step.

Claim 10

A method as defined in claim 1 wherein said table includes in said plurality of numbered locations decreasing time periods as the number of said location increases.

Claim 11

A method as defined in claim 9 wherein the addressed location of said table increases in number as said motor is directed to accelerate and wherein said number of said means for indicating decreases as said motor is directed to decelerate.

Claim 12

In a system comprising a data processor having a memory and a stepping motor coupled for control by said processor, a method comprising the steps of: A. indicating the number of times said motor is to be directed to step during a specified movement; B. indicating in a table having a plurality of numbered locations, said table stored in said memory, selected periods of time between the directing of steps of said motor to achieve a selected rate of change of said motor''s velocity; C. changing the value of said number indicative of the number of times said motor is to be directed to step each time said motor is directed to step; D. changing the addressed location of said table each time said motor is directed to step; E. determining whether said number is smaller than the number of said location addressed; F. directing the stepping of said motor; G. generating an interrupt after waiting a period of time corresponding to the location addressed prior to the step of directing the stepping of said motor if said number is not smaller; and H. generating an interrupt after waiting a period of time corresponding to the location whose number corresponds to said number indicative of the number of times said motor is to be directed to step if said number is smaller.

Claim 13

In a system comprising a data processor having a memory and a stepping motor coupled for control by said processor, a method comprising the steps of: A. indicating the number of times said motor is to be directed to step during a specified movement; B. indicating in a table having a plurality of numbered locations, said table stored in said memory, selected periods of time between the directing of steps of said motor to achieve a selected rate of change of said motor''s velocity; C. changing the value of said number indicative of the number of times said motor is to be directed to step each time said motor is directed to step; D. changing the addressed location of said table each time said motor is directed to step; E. determining whether said number is smaller than the number of said location addressed; F. directing the stepping of said motor; G. generating an interrupt after waiting a period of time corresponding to the location addressed prior to the step of directing the stepping of said motor if said number is not smaller; and H. generating an interrupt after waiting a period of time corresponding to the location whose number corresponds to said number indicative of the number of times said motor is to be directed to step if said number is smaller.

Claim 14

A method as defined in claim 11 comprising the added step of causing said interrupt to repeat said steps of changing, determining, directing and generating.

Claim 19

In a system comprising a digital computer, a stepping motor, means for coupling said motor and said computer, wherein said computer comprises means for indicating the number of times said motor is to be directed to step during a specified movement and a table stored in said computer, said table having a plurality of numbered locations for indicating selected periods of time between steps of said motor to achieve a selected rate of change of said motor''s velocity, apparatus comprising: A. means for changing the number of said means for indicating each time said motor is directed to step, said number corresponding to the number of times said motor is to be directed to step; B. means for changing the addressed location of said table each time said motor is directed to step; C. means for directing the stepping of said motor; and D. means for repeating the directing of the stepping of said motor by said means for directing the stepping after waiting a period of time indicated by the table location addressed.

Claim 20

In a system comprising a digital computer, a stepping motor, means for coupling said motor and said computer, wherein said computer comprises means for indicating the number of times said motor is to be directed to step during a specified movement and a table stored in said computer, said table having a plurality of numbered locations for indicating selected periods of time between steps of said motor to achieve a selected rate of change of said motor''s velocity, apparatus comprising: A. means for changing the number of said means for indicating each time said motor is directed to step, said number corresponding to the number of times said motor is to be directed to step; B. means for changing the addressed location of said table each time said motor is directed to step; C. means for directing the stepping of said motor; and D. means for repeating the directing of the stepping of said motor by said means for directing the stepping after waiting a period of time indicated by the table location addressed.

Claim 21

Apparatus as defined in claim 15 wherein said period of time is indicated by the table location addressed prior to directing the stepping of said motor.

Claim 22

Apparatus as defined in claim 15 further comprising: A. means for determining whether said motor is to be accelerated; and B. means for using said waiting period thE period of time indicated by the table location addressed prior to directing the stepping of said motor if said motor is to be accelerated.

Claim 23

Apparatus as defined in claim 15 further comprising: A. means for determining whether said motor is to be decelerated; and B. means for using said waiting period the period of time indicated by the table location which corresponds in number to the number in said means for indicating if said motor is to be decreased.

Claim 24

Apparatus as defined in claim 15 further comprising: A. means for determining whether the number in said means for indicating is smaller than the number of the table location addressed; E. means for using for said waiting period the period of time indicated by the table location addressed if said number in said means for indicating is smaller; and C. means for using said waiting period the period of time indicated by the table location which corresponds in number to the number of said means for indicating if said number in said means for indicating is not smaller.

Claim 25

Apparatus as defined in claim 19 further comprising means for using the period of a specified velocity for said waiting period if said period of said specified velocity is greater than the one of said periods of time determined for use.

Claim 26

Apparatus as defined in claim 15 further comprising means for using the period of a specified velocity for said waiting period if said period of said specified velocity is greater than the period of time indicated by the table location addressed.

Claim 27

Apparatus as defined in claim 15 wherein said means for changing the addressed location includes means for incrementing by one location said addressed location each time said motor is directed to step.

Claim 28

Apparatus as defined in claim 15 wherein said table includes in said plurality of numbered locations decreasing time periods as the number of said locations increases.

Claim 29

Apparatus as defined in claim 23 wherein the addressed location of said table increases in number as said motor is directed to accelerate and wherein said number of said means for indicating decreases as said motor is directed to decelerate.

Claim 30

In a system comprising a data processor having a memory and a stepping motor coupled for control by said processor, apparatus comprising: A. means for indicating the number of times said motor is to be directed to step during a specified movement; B. table means, having a plurality of numbered locations, said table stored in said memory, for indicating selected periods of time between the directing of steps of said motor to achived a selected rate of change of said motor''s velocity; C. first means for changing the value of said number indicative of the number of times said motor is to be directed to step each time said motor is directed to step; D. second means for changing the addressed location of said table each time said motor is directed to step; E. means for determining whether said number is smaller than the number of said locations addressed; F. means for directing the stepping of said motor; G. first means for generating an interrupt after waiting a period of time corresponding to the location addressed prior to the step of directing the the stepping of said motor if said number is not smaller; and H. second means for generating an interrupt after waiting a period of time corresponding to the location whose number corresponds to said number indicative of the number of times said motor is to be directed to step if said number is smaller.

Claim 31

In a system comprising a data processor having a memory and a stepping motor coupled for control by said processor, apparatus comprising: A. means for indicating the number of times said motor is to be directed to step during a specified movement; B. table means, having a plurality of numbered locations, said table stored in said memory, for indicating selected periods of time between the directing of steps of said motor to achived a selected rate of change of said motor''s velocity; C. first means for changing the value of said number indicative of the number of times said motor is to be directed to step each time said motor is directed to step; D. second means for changing the addressed location of said table each time said motor is directed to step; E. means for determining whether said number is smaller than the number of said locations addressed; F. means for directing the stepping of said motor; G. first means for generating an interrupt after waiting a period of time corresponding to the location addressed prior to the step of directing the the stepping of said motor if said number is not smaller; and H. second means for generating an interrupt after waiting a period of time corresponding to the location whose number corresponds to said number indicative of the number of times said motor is to be directed to step if said number is smaller.

Claim 32

Apparatus as defined in claim 25 further comprising means for causing said interrupt to repeat the operation provided by said second means for changing, said means for determining, said means for directing, and said first means for generating.

Claim 33

Apparatus for directing the stepping of a stepping motor n steps, said motor being capable of accelerating from a first velocity to a sEcond velocity in p steps, where p is less than n, said apparatus comprising: A. means for indicating, said means having p positions, a p number of n steps; B. memory storage means for indicating, said means having p locations, the time required between each p step in order to achieve the required acceleration between said first and second velocities; C. means for decrementing said p number by one each time said motor is directed to step; D. means for incrementing said p number by one a total of n minus p times each time said motor is directed to step; E. means for incrementing by one the p location addressed each time said motor is directed to step; F. means for determining whether said decremented and incremented p number is less than the one of said p locations addressed; G. means for directing the stepping of said motor; H. means for repeating the directing of the stepping of said motor after waiting a period of time indicated by the one of said p locations addressed prior to the directing of the stepping of said motor if said incremented and decremented p number is less; and I. means for repeating the directing of the stepping of said motor after waiting a period of time indicated by the one of said p locations corresponding in number to the incremented and decremented p number if said incremented and decremented p number is not less.

Claim 34

Apparatus for directing the stepping of a stepping motor n steps, said motor being capable of accelerating from a first velocity to a sEcond velocity in p steps, where p is less than n, said apparatus comprising: A. means for indicating, said means having p positions, a p number of n steps; B. memory storage means for indicating, said means having p locations, the time required between each p step in order to achieve the required acceleration between said first and second velocities; C. means for decrementing said p number by one each time said motor is directed to step; D. means for incrementing said p number by one a total of n minus p times each time said motor is directed to step; E. means for incrementing by one the p location addressed each time said motor is directed to step; F. means for determining whether said decremented and incremented p number is less than the one of said p locations addressed; G. means for directing the stepping of said motor; H. means for repeating the directing of the stepping of said motor after waiting a period of time indicated by the one of said p locations addressed prior to the directing of the stepping of said motor if said incremented and decremented p number is less; and I. means for repeating the directing of the stepping of said motor after waiting a period of time indicated by the one of said p locations corresponding in number to the incremented and decremented p number if said incremented and decremented p number is not less.