Patent GB-1492576-A (GB)
Title: Programmable positioning apparatus
IPC: G05B19/416
Filed: 1974-11-28
Abstract: 1492576 Automatic control of positioning H CUTLER 28 Nov 1974 [29 Nov 1973] 51608/74 Heading G3N  In a programmable positioning system for moving an article a distance D, values for the acceleration magnitude, and for a maximum velocity V being stored; the distance B required for the article to attain, or decelerate to rest from, the maximum velocity being stored or computed; for distances exceeding 2B, see Fig. 2a, the object undergoes; acceleration whenever the distance from the starting point is less than B; deceleration whenever the distance to go to the destination is less than B; otherwise proceeding at the maximum velocity V m , whereas for distances less than 2B, the object accelerates until half the total distance is covered, whence it decelerates, see Fig. 2b, the movements being controlled by an acceleration series, or a maximum velocity series, of motion command pulses, respectively. Further apparatus may be provided to ensure that; subject to an over-riding maximum value for lightest objects; the acceleration is the greatest attainable while keeping, either inertial forces on the object close to a pre-set force limit, Fig. 8 (not shown), or the magnitude of a servo following error just below a pre-set limit, Fig. 9 (not shown). Data defining the values of B and D is fed to a mode select unit 6, see Fig. 4 (not shown), receiving also a distance-to-go signal d obtained by subtracting axis drive pulses #D from a register initially storing D, the unit 6; containing comparators (70, 76, 78 Fig. 4); enabling the maximum velocity generator 12 whenever D>2B, and B<d<D-B, or enabling the acceleration generator 10 whenever D<2B, and d> D-B, or d<B, an acceleration sign selector 18 ensuring that a negative value for the acceleration is provided whenever either; D>2B and d<B; or D<2B and d<D/2, otherwise a positive value being provided. The generator 10 provides incremental pulses #D a  at a rate which decreases, or increases respectively at rate varying substantially as the square of the time as determined by the rate of clock pulses (#M), Fig. 3 (not shown) which pulses decrement, or increment respectively the content of a register (MR) whose content is subtracted at each clock pulse from an error register (ER) incremented by an amount C defining, and in inverse relation to, the acceleration magnitude, for each incremental pulse #D a  delivered, the latter delivery occurring whenever the error register content is negative. Register (MR) is decremented from the content accumulated during the preceding acceleration. Constant velocity generator 12 comprises a pulse generator coupled to a rate multiplier, the rate multiplication corresponding to the value V. The enabled unit 12, or 10 passes incremental pulses to a corresponding axis drive. When the distance-to-go for all axes of movement is detected as zero, the starting of a subsequent positioning is enabled. Determining acceleration magnitude (i) In accordance with inertia forces, Fig. 8 (not shown). Register (CR) containing the quantity C is counted up, or down respectively at a rate determined by generator 138, whenever the sensed inertia force on load (132) exceeds, or is less than, respectively the pre-set limit (124) as determined in comparator (122), to reduce, respectively increase, the acceleration, unit (128) ensuring that the content of register (CR) never falls below the value MIN-C. (ii) In accordance with zero-following error, (Fig. 9). Load position transducer (158) provides feedback pulses (#P) which are subtracted from the drive pulse (#D) to provide a following error signal stored in register (FER), the system starting operation with a minimum with a minimum C, corresponding to maximum acceleration, stored in register (CR). The value of C is progressively increased as long as the error exceeds a pre-set limit, until the limit is no longer exceeded. The value of acceleration so determined is stored and used during the slowdown as well. (iii) In accordance with a tabulation. For each type of load, which may be a member of a n.c. machine tool, a workpiece, or pallet, or container, there may be a corresponding identification itself corresponding to value of C, stored, or entered by an operator. Alternatively the load may be weighed to enable choice of a corresponding C value.