Patent ID: 7145309

Claim:
In a system having a load, an available system torque, and a linked motor for positioning the load, the system further having a stopper for physically impeding the load when it is to be parked, a method for parking the load at the stopper, comprising: driving the motor in a full torque mode to move the load toward the stopper, wherein in the full torque mode the available system torque is greater than a sum of a frictional torque component related to the system and an intertial torque component related to the system; before reaching the stopper transitioning from the full torque mode into a reduced torque mode, wherein in the reduced torque mode the available system torque is lower than the sum of the frictional torque component and the inertial torque component, but is greater than the frictional torque component; stopping the load at the stopper while the motor is driven in the reduced torque mode; and maintaining the reduced torque mode until transitioning to an insignificant torque mode, wherein in the insignificant torque mode the available system torque is lower than the frictional torque component.