US5355062A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Positioning and control apparatus that is interactively programmable using a display
Assignee: Mitsubishi Electric Corp
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Filing: 1992-08-27
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Granted: 1994-10-11
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Expires: 2012-08-27
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 by a virtual mechanism, 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.
Inventors
- 👤 Yoshichika Takizawa
- 👤 Yasuyuki Suzuki
- 👤 Misako Okada
- 👤 Makoto Nishimura
- 👤 Hidehiko Matsumoto
- 👤 Yasuharu Kudo
- 👤 Tohru Tsujimoto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-05 14:54
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: 62
Claim 1
Independent Claim
131 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 simulation means for generating and outputting position information for synchronously drive-controlling said motors, a plurality of transmission simulation means for operating on at least one of input information and said position information and outputting the results as transmission information, and a plurality of output simulation means 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 drive simulation means, transmission simulation means and output simulation means to drive-control said motors.
Claim 2
Dependent Claim
131 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 simulation means for generating and outputting position information for synchronously drive-controlling said motors, a plurality of transmission simulation means for operating on at least one of input information and said position information and outputting the results as transmission information, and a plurality of output simulation means 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 drive simulation means, transmission simulation means and output simulation means to drive-control said motors.
Claim 3
Dependent Claim
36 words
A positioning apparatus as set forth in claim 1, wherein said selective combination of drive simulation means, transmission simulation means and output simulation means comprises at least one drive simulation means and one output simulation means.
Claim 4
Dependent Claim
22 words
A positioning apparatus as set forth in claim 1, wherein said plurality of output simulation means is responsive to said transmission information.
Claim 5
Dependent Claim
29 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 simulation means 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 simulation means 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 simulation means 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 simulation means represents a motor.
Claim 11
Dependent Claim
119 words
A positioning apparatus as defined in claim 1, wherein said transmission simulation means comprises input means for inputting position information and output means for outputting position information, at least one of said input and output means being operable to represent simulated motion of a selected one of a plurality of directions 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 the simulated motion 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 simulation means 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 simulation means 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 simulation means 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, herein said transmission simulation means 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 simulation means represents a clutch mechanism.
Claim 19
Dependent Claim
139 words
A position apparatus as defined in claim 1, wherein said transmission simulation means 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 simulation means 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 simulation means 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 simulation means 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 simulation means 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 simulation means 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 simulation means 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 simulation means represents a differential gear.
Claim 27
Dependent Claim
37 words
A positioning apparatus as defined in claim 24, wherein the position information input to said auxiliary input means comprises a velocity command, from which a velocity is determined by dividing the velocity command by a constant time.
Claim 28
Dependent Claim
37 words
A positioning apparatus as defined in claim 25, wherein the position information input to said auxiliary input means comprises a velocity command, from which a velocity is determined by dividing the velocity command by a constant time.
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 simulation means 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 simulation means represents a speed changer.
Claim 33
Dependent Claim
49 words
A positioning apparatus as defined in claim 30, wherein the transmission simulation means 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 simulation means 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 simulation means 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 simulation means represents a cam.
Claim 37
Dependent Claim
83 words
A positioning apparatus as defined in claim 34, wherein said transmission simulation means 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 simulation means represents a feeding cam.
Claim 39
Dependent Claim
72 words
A positioning apparatus as defined in claim 34, wherein the transmission simulation means 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 simulation means 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 simulation means 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 simulation means represents a roller mechanism.
Claim 43
Dependent Claim
56 words
A positioning apparatus as defined in claim 1, wherein said output simulation means 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 simulation means represents a ball screw mechanism.
Claim 45
Dependent Claim
18 words
A positioning apparatus as defined in claim 42, wherein said transmission simulation means represents a rotary table mechanism.
Claim 46
Dependent Claim
59 words
A positioning apparatus as defined in claim 1, wherein said output simulation means 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 simulation means represents a ball screw mechanism.
Claim 48
Dependent Claim
18 words
A positioning apparatus as defined in claim 45, wherein said transmission simulation means represents a rotary table mechanism.
Claim 49
Dependent Claim
55 words
A positioning apparatus as defined in claim 1, wherein said output simulation means 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 simulation means 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) simulation means-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 simulation means, 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 simulation means in synchronization with the position information of the machine, when the result of comparison has exceeded said upper limit value.
Claim 54
Dependent Claim
99 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 simulation means 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 simulation means 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 simulation means-output position information found by reverse calculation of the output of the output simulation means with actual drive simulation means-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 simulation means 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.
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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) | 1997-10-10 | 1998-04-11 | 1998-10-11 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-10-10 | 2002-04-11 | 2002-10-11 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-10-10 | 2006-04-11 | 2006-10-11 | $7700.00 | Window Closed / Lapsed |