US4734847A
Expired / Lapsed
US
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Microstepping motor controller circuit
Assignee: Individual
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Filing: 1985-12-16
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Granted: 1988-03-29
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Expires: 2005-12-16
Abstract
Abstract A controller circuit for controlling the movement of a stepper motor or the like about one or more axes is disclosed. The circuit includes a microprocessor and associated circuitry for generating velocity and distance control signals according to a preferred method. According to the method, a constant acceleration number provided by the user is cumulatively added to itself to produce a velocity number. In addition, the velocity number is cumulatively added to itself to produce a pulse rate number. The pulse rate number is routed as a plural bit number to a counter wherein it is used to generate a train of stepper motor control pulses. The preferred method and circuitry allow the microprocessor to generate the stepper motor control pulses at a very high rate of speed without requiring peripheral adder circuitry.
Inventors
- 👤 L. Wayne Hunter
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-01 08:41
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/40; G05B19/414; G05B19/4142; G05B19/416; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37314; G05B2219/42; G05B2219/42244
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
174 words
A method of generating a train of signal pulses for controlling movement of a stepper motor about at least one axis, comprising: providing an acceleration value; providing a maximum velocity and total distance value; calculating a velocity value by adding the acceleration value cumulatively to itself at a predetermined rate, each addition producing a velocity value; calculating a distance value by adding the velocity value cumulatively to itself at a predetermined rate, each addition producing a distance value; comparing, after each velocity calculation, the velocity value against the maximum value; terminating the acceleration addition once the maximum velocity value is reached; calculating the number of pulses n required to reach the maximum velocity; subtracting the number of pulses n from the remaining pulses to produce a number of pulses m for constant velocity; generating a constant velocity for m pulses; decelerating for n pulses, the 2n+m pulses equaling the total distance value; and generating a train of signal pulses in response to the distance value and repeating the above steps at the predetermined rate.
Claim 2
Independent Claim
174 words
A method of generating a train of signal pulses for controlling movement of a stepper motor about at least one axis, comprising: providing an acceleration value; providing a maximum velocity and total distance value; calculating a velocity value by adding the acceleration value cumulatively to itself at a predetermined rate, each addition producing a velocity value; calculating a distance value by adding the velocity value cumulatively to itself at a predetermined rate, each addition producing a distance value; comparing, after each velocity calculation, the velocity value against the maximum value; terminating the acceleration addition once the maximum velocity value is reached; calculating the number of pulses n required to reach the maximum velocity; subtracting the number of pulses n from the remaining pulses to produce a number of pulses m for constant velocity; generating a constant velocity for m pulses; decelerating for n pulses, the 2n+m pulses equaling the total distance value; and generating a train of signal pulses in response to the distance value and repeating the above steps at the predetermined rate.
Claim 3
Dependent Claim
173 words
A controller circuit for generating a train of signal pulses to control the movement of a stepper motor about at least one axis, comprising: means for storing an acceleration value, a maximum velocity value, and a total distance value; means for adding the acceleration value to itself cumulatively to produce a velocity value; means for adding a velocity value to itself to produce a distance value; means for comparing, after each velocity calculation, the velocity against the maximum value; means for terminating the accelerating addition once the maximum velocity value is reached; means for calculating the number of pulses n required to reach the maximum velocity; means for subtracting the number of pulses n from the remaining pulses to produce a number of pulses m for constant velocity; means for generating a constant velocity for m pulses; means for decelerating for n pulses, the 2n+m pulses equaling the total distance value; and means for producing in response to the distance value a train of signal pulses for controlling the movement of the motor.
Claim 4
Dependent Claim
173 words
A controller circuit for generating a train of signal pulses to control the movement of a stepper motor about at least one axis, comprising: means for storing an acceleration value, a maximum velocity value, and a total distance value; means for adding the acceleration value to itself cumulatively to produce a velocity value; means for adding a velocity value to itself to produce a distance value; means for comparing, after each velocity calculation, the velocity against the maximum value; means for terminating the accelerating addition once the maximum velocity value is reached; means for calculating the number of pulses n required to reach the maximum velocity; means for subtracting the number of pulses n from the remaining pulses to produce a number of pulses m for constant velocity; means for generating a constant velocity for m pulses; means for decelerating for n pulses, the 2n+m pulses equaling the total distance value; and means for producing in response to the distance value a train of signal pulses for controlling the movement of the motor.
Claim 5
Dependent Claim
25 words
The circuit of claim 2 in which the means for adding the acceleration value and the velocity value is the internal circuitry of a microprocessor.
Claim 6
Dependent Claim
113 words
A controller circuit for generating a train of signal pulses to control the movement of a stepper motor about at least one axis, comprising: means for storing an acceleration value, a maximum velocity value, and a distance value; microprocessor means running at a first predetermined rate for adding the acceleration value to itself cumulatively to produce a velocity value and for adding the velocity to itself cumulatively to produce a distance value; and multiplier means for interrupting the microprocessor means at the first predetermined rate to receive the distance value produced and for multiplying the distance value at a second, faster predetermined rate to produce the pulse train at the faster predetermined rate.
Claim 7
Dependent Claim
113 words
A controller circuit for generating a train of signal pulses to control the movement of a stepper motor about at least one axis, comprising: means for storing an acceleration value, a maximum velocity value, and a distance value; microprocessor means running at a first predetermined rate for adding the acceleration value to itself cumulatively to produce a velocity value and for adding the velocity to itself cumulatively to produce a distance value; and multiplier means for interrupting the microprocessor means at the first predetermined rate to receive the distance value produced and for multiplying the distance value at a second, faster predetermined rate to produce the pulse train at the faster predetermined rate.
Claim 8
Dependent Claim
28 words
The controller circuit of claim 4 in which the multiplier means comprises a counter whose output is logically combined with the distance value to produce the pulse train.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1991-03-29 | 1991-09-28 | 1992-03-29 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-03-29 | 1995-09-28 | 1996-03-29 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-03-29 | 1999-09-28 | 2000-03-29 | $7700.00 | Window Closed / Lapsed |