Microcomputer control of machines

• US 4,829,419 A
• Filed: 12/14/1977
• Issued: 05/09/1989
• Est. Priority Date: 12/28/1970
• Status: Expired due to Term

• Current Assignee: Gilbert P. Hyatt
• Original Assignee: Gilbert P. Hyatt
• Inventors: Hyatt, Gilbert P.
• Primary Examiner(s): Ruggiero, Joseph
• Application Number:
  US05/860,256
• Time in Patent Office: 4,164 Days
• Field of Search: 364/107, 364/474, 364/120, 364/130, 364/167-171, 364/188, 364/189, 364/475, 318/570, 318/573, 318/574
• US Class Current: 700/83
• CPC Class Codes: G03F 9/7049 Technique, e.g. interferometric
• CPC Class Codes: G03F 9/7088 Alignment mark detection, e.g. TTR, TTL, off-axis detection, array detector, video detection
• CPC Class Codes: G06F 3/0219 Special purpose keyboards
• CPC Class Codes: G06F 3/147 using display panels
• CPC Class Codes: G11C 16/3418 Disturbance prevention or evaluation; Refreshing of disturbed memory data
• CPC Class Codes: G11C 16/3431 Circuits or methods to detect disturbed nonvolatile memory cells, e.g. which still read as programmed but with threshold less than the program verify threshold or read as erased but with threshold greater than the erase verify threshold, and to reverse the disturbance via a refreshing programming or erasing step

Abstract

A microcomputer system is provided that facilitates system interaction with a machine. System architecture provides for processing machine inputs and generating machine outputs under microcomputer program control to enhance capability and flexibility and to reduce special purpose interface circuitry. Use of a microcomputer having an integrated circuit read only memory for program storage, an integrated circuit RAM or scratch pad memory for alterable operand storage, and integrated circuit logic enhances cost, performance, reliability, and other considerations.

Claims

1. A machine control system comprising:

an operator input device for generating a machine direction signal in response to an operator action;

an integrated circuit stored program computer including

(a) an integrated circuit read only main memory for storing instructions,

(b) an integrated circuit alterable memory for storing computer operands,

(c) input logic for generating a computer input signal in response to the machine direction signal generated by said operator input device under control of the instructions stored in said main memory,

(d) storing logic for storing a machine direction related operand in said alterable memory under control of the instructions stored in said main memory in response to the computer input signal generated by said input logic,

(e) processor logic for processing a machine direction related operand stored in said alterable memory under control of the instructions stored in said main memory, and

(f) an output circuit for generating a machine direction command signal in response to the processing of the machine direction related operand by said processor logic; and

a machine controller for controlling direction of a machine in response to the machine direction command signal generated by said output circuit.

3. The system as set forth in claim 1 above, further comprising a relay for controlling a machine in response to the machine direction command signal.

4. The system as set forth in claim 1 above, wherein said system is a numerical control system and wherein said system further comprises numerical control means for controlling a numerically controlled machine in response to the machine direction command signal.

5. The system as set forth in claim 4 above, further comprising a machine tool for cutting a part under control of said numerical control means.

7. The system as set forth in claim 1 above, further comprising a machine for performing a machine operation in response to the machine command signal, wherein said machine includes an error mechanism, wherein said processor logic includes means for processing the computer operands stored in said alterable memory to compensate for said machine error mechanism under control of the instructions stored in said read only main memory, and wherein said machine direction command signal is an error compensated machine direction command signal to compensate for the machine error mechanism generated in response to the processing of the machine direction related operand by said processing logic.

8. The system as set forth in claim 1 above, wherein said processor logic includes means for processing the computer operands stored in said alterable memory to compensate for a machine error mechanism, said system further comprising a machine for performing an error compensated machine operation under control of the machine controller.

10. The system as set forth in claim 1 above, further comprising a magnetic control element for providing a mechanical control operation under control of the machine controller.

11. The system as set forth in claim 1 above, wherein said output circuit includes a pulse modulation circuit for generating the machine direction command signal as a pulse modulated machine direction command signal to control a machine in response to the computer operands stored in said alterable memory.

12. The system as set forth in claim 1 above, wherein said output circuit includes a pulse modulation circuit for generating the machine direction command signal as a pulse width modulated machine direction command signal in response to the computer operands stored in said alterable memory.

13. The system as set forth in claim 1 above, further comprising a frequency circuit for generating a frequency-related signal in response to the machine direction command signal.

15. The system as set forth in claim 1 above, further comprising a digital-to-analog converter for generating an analog signal in response to the machine direction command signal.

16. The system as set forth in claim 1 above, further comprising an amplifier for generating an amplified signal in response to the machine direction command signal.

17. The system as set forth in claim 1 above, further comprising a power amplifier for generating a power-amplified signal in response to the machine direction command signal.

18. The system as set forth in claim 1 above, further comprising means for generating a square wave control signal in response to the machine direction command signal.

19. The system as set forth in claim 1 above, further comprising means for generating a velocity signal in response to the machine direction command signal.

20. The system as set forth in claim 1 above, further comprising means for generating a frequency-related signal in response to the machine direction command signal.

21. The system as set forth in claim 1 above, further comprising a phase locked loop for controlling phase relationships in response to the machine direction command signal.

23. The system as set forth in claim 1 above, further comprising an elemental extremity for performing an extremity-related operation in response to the machine direction command signal.

24. The system as set forth in claim 1 above, further comprising a minimal interface circuit for controlling a machine in response to the machine direction command signal.

26. The system as set forth in claim 1 above, wherein said output circuit includes a sequential circuit for generating the machine direction command signal as a sequence of digital bits.

2. A machine control system, said system comprising:

an operator direction control device for generating an operator direction control signal to control direction of a machine;

an integrated circuit processor for controlling direction of a machine, said processor including

(a) an integrated circuit main memory for storing a program,

(b) integrated circuit input logic for generating a direction control input signal in response to the operator direction control signal generated by said operator direction control device under control of the program stored in said main memory,

(c) integrated circuit processing logic for processing the direction control input signal under control of the program stored in said main memory, and

(d) integrated circuit direction control output logic for generating a direction control output signal under control of the program stored in said main memory in response to the processing of the direction control input signal by said processing logic; and

a controller for controlling direction of motion of a machine in response to the direction control output signal generated by said direction control output logic.

46. The system as set forth in claim 2 above, wherein said machine control system is a process control system, wherein said machine is a process machine, wherein the operator direction control device is a push button switch, and wherein the direction control output signal is a machine plus and minus direction control signal.

6. A machine control system comprising:

an operator direction control device for generating a machine direction control signal in response to an operator action;

a stored program computer for processing digital operands under control of a stored program, said computer including

(a) an integrated circuit read only main memory for storing a program,

(b) an integrated circuit alterable memory for storing operands,

(c) storing logic for storing an operand in said alterable memory under control of the program stored in said main memory in response to the machine direction control signal generated by said operator direction control device,

(d) processing logic for processing operands stored in said alterable memory under control of the program stored in said main memory,

(e) control output logic for generating a machine direction control signal under control of the program stored in said main memory in response to an operand stored in said alterable memory, and

(f) motion display output logic for generating a motion display output signal under control of the program stored in said main memory in response to an operand stored in said alterable memory;

a machine controller for controlling direction of motion of a machine in response to the machine motion direction control signal generated by said control output logic; and

a motion display for displaying motion information to an operator in response to the motion display output signal generated by said motion display output logic.

9. A machine control system comprising:

an operator input device for generating a machine turret signal in response to an operator action;

an integrated circuit stored program computer including

(a) an integrated circuit read only main memory for storing instructions,

(b) an integrated circuit alterable memory for storing computer operands,

(c) input logic for generating a computer input signal in response to the machine turret signal generated by said operator input device under control of the instructions stored in said main memory,

(d) storing logic for storing a machine turret related operand in said alterable memory under control of the instructions stored in said main memory in response to the computer input signal generated by said input logic,

(e) processor logic for processing a machine turret related operand stored in said alterable memory under control of the instructions stored in said main memory, and

(f) an output circuit for generating a machine turret command signal in response to the processing of the machine turret related operand by said processor logic;

a machine controller for controlling a machine turret in response to the machine turret command signal generated by said output circuit; and

a machine turret for positioning a machine element under control of the machine controller.

14. A control system comprising:

an operator input device for generating an operator command signal;

a stored program data processor for processing digital information under control of a stored program, said data processor including

(a) an integrated circuit read only main memory for storing a control program,

(b) an integrated circuit alterable memory for storing operands,

(c) operator input logic for generating an operator input signal in response to the operator command signal generated by said operator input device,

(d) storing logic for storing operands in said alterable memory under control of the program stored in said main memory in response to the operator input signal generated by said operator input logic,

(e) processing logic for processing the operands stored in said alterable memory under control of the program stored in said main memory, and

(f) output logic for generating a control signal under control of the program stored in said main memory in response to the processing of operands by said processing logic; and

a process controller for controlling a process in response to the control signal generated by said output logic.

22. A machine control system comprising:

an operator input device for generating a machine direction signal in response to an operator action;

an integrated circuit stored program computer including

(a) an integrated circuit read only main memory for storing instructions,

(b) an integrated circuit alterable memory for storing computer operands,

(c) an error detector for detecting a computer error under control of the instructions stored in said main memory,

(d) an error output circuit for generating an error output signal under control of the instructions stored in said main memory,

(e) input logic for generating a computer input signal in response to the machine direction signal generated by said operator input device under control of the instructions stored in said main memory,

(f) storing logic for storing a machine direction related operand in said alterable memory under control of the instructions stored in said main memory in response to the computer input signal generated by said input logic,

(g) processor logic for processing a machine direction related operand stored in said alterable memory under control of the instructions stored in said main memory, and

(h) an output circuit for generating a machine direction command signal in response to the processing of the machine direction related operand by said processor logic;

a machine controller for controlling direction of a machine in response to the machine direction command signal generated by said output circuit; and

an error display for displaying an error condition in response to the error output signal generated by said error output circuit.

25. A machine control system comprising:

a feedback device for generating a feedback signal related to a condition of a machine;

an operator input device for generating a machine direction signal in response to an operator action;

an integrated circuit stored program computer including

(a) an integrated circuit read only main memory for storing instructions,

(b) an integrated circuit alterable memory for storing computer operands,

(c) input logic for generating a computer input signal in response to the machine direction signal generated by said operator input device under control of the instructions stored in said main memory,

(d) feedback logic for generating a computer feedback signal in response to the feedback signal generated by said feedback device under control of the instructions stored in said main memory,

(e) storing logic for storing a machine direction related operand in said alterable memory under control of the instructions stored in said main memory in response to the computer input signal generated by said input logic,

(f) processor logic for processing a machine direction related operand stored in said alterable memory under control of the instructions stored in said main memory in response to the computer feedback signal generated by said feedback logic, and

(g) an output circuit for generating a machine direction command signal in response to the processing of the machine direction related operand by said processor logic; and

a controller for controlling direction of a machine in response to the machine direction command signal generated by said output circuit.

27. A machine control system comprising:

an operator input device for generating a rotation input signal;

a stored program computer for generating a rotation command output signal in response to the rotation input signal, said computer including

(a) an integrated circuit main memory for storing computer instructions,

(b) an integrated circuit alterable memory for storing at least one operand,

(c) input logic for generating a computer input signal in response to the rotation input signal generated by said operator input device,

(d) processor logic for processing the operand stored in said alterable memory under control of the instructions stored in said main memory in response to the rotation related computer input signal generated by said input logic, and

(e) output logic for generating the rotation command output signal in response to the processing of the operand stored in said alterable memory under control of the computer instructions stored in said main memory; and

a controller for controlling rotational path of a machine in response to the rotation command output signal generated by said output logic.

34. The system as set forth in claim 27 above, wherein said controller includes an amplifier for generating an amplified signal in response to the output signal.

35. The system as set forth in claim 27 above, wherein said controller includes a power amplifier for generating a power control signal in response to the output signal.

36. The system as set forth in claim 27 above, wherein said input device includes means for generating the input signal in response to a controlled condition of a machine and wherein said computer includes means for generating the output signal in response to the input signal.

39. The system as set forth in claim 27 above, wherein said controller includes means for controlling rotational path of a machine tool in response to the rotational command output signal.

41. The system as set forth in claim 27 above, wherein said input device includes an electro-magnetic sensor for generating the input signal in response to a sensed condition.

42. The system as set forth in claim 27 above, wherein said input device includes an electro-magnetic resolver for generating the input signal in response to resolver position.

43. The system as set forth in claim 27 above, wherein said input device includes mechanical input device for generating the input signal in response to a mechanical condition.

44. The system as set forth in claim 27 above, wherein said input device includes a mechanical switch for generating the input signal in response to switch actuation.

28. A machine control system comprising:

an operator command device for generating operator input signals in response to operator activation, said operator input device including

(a) a motion command operator device for generating an operator motion command signal in response to operator action,

(b) a stop command operator device for generating an operator stop command signal in response to operator action, and

(c) a direction command operator device for generating an operator direction command signal in response to operator action;

an integrated circuit computer for controlling a machine, said computer including

(a) an integrated circuit read only main memory for storing a computer program,

(b) integrated circuit motion command input logic for generating a motion command input signal under control of the computer program stored in said main memory in response to the operator motion command signal generated by said motion command operator device,

(c) integrated circuit stop command input logic for generating a stop command input signal under control of the computer program stored in said main memory in response to the operator stop command signal generated by said stop command operaator device,

(d) integrated circuit direction command input logic for generating a direction command input signal under control of the computer program stored in said main memory in response to the operator direction command signal generated by said direction command operator device,

(e) integrated circuit motion control processing logic for generating a motion control output signal under control of the computer program stored in said main memory in response to the motion command input signal generated by said motion command input logic,

(f) integrated circuit stop control processing logic for generating a stop control output signal under control of the computer program stored in said main memory in response to the stop command input signal generated by said stop command input logic, and

(g) integrated circuit direction control processing logic for generating a direction control output signal under control of the computer program stored in said main memory in response to the direction command input signal generated by said direction command input logic; and

a controller for controlling a machine, said controller including

(a) a motion controller for controlling motion of a machine in response to the motion control output signal generated by said motion control processing logic,

(b) a stop controller for controlling stopping of motion of said machine in response to the stop control output signal generated by said stop control processing logic, and

(c) a direction controller for controlling direction of motion of said machine in response to the direction control output signal generated by said direction control processing logic.

29. A machine control system comprising:

an operator input device for generating a motor speed input signal;

a stored program computer for generating a motor speed command output signal in response to the motor speed input signal, said computer including

(a) an integrated circuit main memory for storing computer instructions,

(b) an integrated circuit alterable memory for storing at least one operand,

(c) input logic for generating a computer input signal in response to the motor speed input signal generated by said operator input device,

(d) processor logic for processing the operand stored in said alterable memory under control of the instructions stored in said main memory in response to the motor speed related computer input signal generated by said input logic, and

(e) output logic for generating the motor speed command output signal in response to the processing of the operand stored in said alterable memory under control of the computer instructions stored in said main memory; and

a controller for controlling speed of a motor in response to the motor speed command output signal generated by said output logic.

30. A machine control system comprising:

an operator input device for generating a velocity input signal;

a stored program computer for generating a velocity command output signal in response to the velocity input signal, said computer including

(a) an integrated circuit main memory for storing computer instructions,

(b) an integrated circuit alterable memory for storing at least one operand,

(c) input logic for generating a computer input signal in response to the velocity input signal generated by said operator input device,

(d) processor logic for processing the operand stored in said alterable memory under control of the instructions stored in said main memory in response to the velocity related computer input signal generated by said input logic, and

(e) output logic for generating the velocity command output signal in response to the processing of the operand stored in said alterable memory under control of the computer instructions stored in said main memory; and

a controller for controlling velocity of machine motion in response to the velocity command output signal generated by said output logic.

31. A machine control system comprising:

a speed input device for generating a speed input signal in relation to a desired speed;

a stored program computer for generating a speed command output signal in response to the speed input signal, said computer including

(a) an integrated circuit main memory for storing computer instructions,

(b) an integrated circuit alterable memory for storing at least one operand,

(c) input logic for generating a computer input signal in response to the speed input signal generated by said speed input device,

(d) processor logic for processing the operand stored in said alterable memory under control of the instructions stored in said main memory in response to the computer input signal generated by said input logic, and

(e) output logic for generating the speed command output signal in response to the processing of the operand stored in said alterable memory with said processor logic under control of the computer instructions stored in said main memory; and

a controller for controlling speed of a machine in response to the speed command output signal generated by said output logic.

32. A machine control system comprising:

a plurality of input devices for generating digital input signals, said plurality of input devices including

(a) an operator speed control input device for generating an operator speed control signal in response to operator activation and

(b) an operator stop control input device for generating an operator stop control signal in response to operator activation;

a stored program digital computer for controlling a machine under control of a stored program, said digital computer including

(a) an integrated circuit read only main memory for storing a program,

(b) speed control input logic for generating a speed control input signal under control of the program stored in said main memory in response to the operator speed control signal generating by said operator speed control input device,

(c) stop control input logic for generating a stop control input signal under control of the program stored in said main memory in response to the operator stop control signal generated by said operator stop control input device,

(d) speed control processing logic for generating a speed control output signal under control of the program stored in said main memory in response to the speed control input signal generated by said speed control input logic, and

(e) stop control processing logic for generating a stop control output signal under control of the program stored in said main memory in response to the stop control input signal generated by said stop control input logic; and

a machine controller for controlling a machine, said machine controller including

(a) a speed controller for controlling speed of a machine in response to the speed control output signal generated by said speed control processing logic and

(b) a stop controller for stopping motion of a machine in response to the stop control output signal generated by said stop control processing logic.

47. The system as set forth in claim 32 above, wherein said machine is a machine tool, wherein said operator speed control input device is a cycle start momentary switch, wherein said operator stop control input device is a cycle stop momentary switch, and wherein said machine controller is a closed loop servo.

33. A machine control system comprising:

an operator input device for generating a rotation input signal;

a stored program computer for generating a rotation command output signal in response to the rotation input signal, said computer including

(a) an integrated circuit main memory for storing computer instructions,

(b) an integrated circuit alterable memory for storing at least one operand,

(c) input logic for generating a computer input signal in response to the rotation input signal generated by said operator input device,

(d) processor logic for processing the operand stored in said alterable memory under control of the instructions stored in said main memory in response to the rotation related computer input signal generated by said input logic, and

(e) output logic for generating the rotation command output signal in response to the processing of the operand stored in said alterable memory under control of the computer instructions stored in said main memory; and

a digital-to-analog converter for generating an analog signal in response to the rotation command output signal generated by said output logic to control rotational path of a machine.

37. A machine control system comprising:

an operator input device for generating a position input signal;

a stored program computer for generating a position command output signal in response to the position input signal, said computer including

(a) an integrated circuit main memory for storing computer instructions,

(b) an integrated circuit alterable memory for storing at least one operand,

(c) input logic for generating a computer input signal in response to the position input signal generated by said operator input device,

(d) processor logic for processing the operand stored in said alterable memory under control of the instructions stored in said main memory in response to the position related computer input signal generated by said input logic, and

(e) output logic for generating the position command output signal in response to the processing of the operand stored in said alterable memory under control of the computer instructions stored in said main memory; and

a controller for controlling position of a machine element in response to the position command output signal generated by said output logic.

38. A machine control system comprising:

an operator input device for generating a mechanical position input signal;

a stored program computer for generating a mechanical position command output signal in response to the mechanical position input signal, said computer including

(a) an integrated circuit main memory for storing computer instructions,

(b) an integrated circuit alterable memory for storing at least one operand,

(c) input logic for generating a computer input signal in response to the mechanical position input signal generated by said operator input device,

(d) processor logic for processing the operand stored in said alterable memory under control of the instructions stored in said main memory in responses to the mechanical position related computer input signal generated by said input logic, and

(e) output logic for generating the mechanical position command output signal in response to the processing of the operand stored in said alterable memory under control of the computer instructions stored in said main memory; and

a controller for changing a mechanical position to change an operating condition of a machine in response to the mechanical position command output signal generated by said output logic.

40. A machine control system comprising:

an operator input device for generating a rotation input signal;

a stored program computer for generating a rotation command output signal in response to the rotation input signal, said computer including

(a) an integrated circuit main memory for storing computer instructions,

(b) an integrated circuit alterable memory for storing at least one operand,

(c) input logic for generating a computer input signal in response to the rotation input signal generated by said operator input device,

(d) processor logic for processing the operand stored in said alterable memory under control of the instructions stored in said main memory in response to the rotation related computer input signal generated by said input logic, and

(e) output logic for generating the rotation command output signal in response to the processing of the operand stored in said alterable memory under control of the computer instructions stored in said main memory; and

a closed loop controller for providing closed loop rotational path control of a machine in response to the rotation command output signal generated by said output logic.

45. A machine control system comprising:

an operator motion control device for generating an operator motion control signal to control motion of a machine;

an integrated circuit processor for controlling motion of a machine, said processor including

(a) an integrated circuit main memory for storing a program,

(b) integrated circuit input logic for generating a motion control input signal in response to the operator motion control signal generated by said operator motion control device under control of the program stored in said main memory,

(c) integrated circuit processing logic for processing the motion control input signal under control of the program stored in said main memory,

(d) integrated circuit motion control output logic for generating a motion control output signal under control of the program stored in said main memory in response to the processing of the motion control input signal by said processing logic, and

(e) integrated circuit operator display output logic for generating a motion display output signal under control of the program stored in said main memory in response to the processing of the motion control input signal by said processing logic;

a machine for providing motion in response to the motion control output signal generated by said motion control output logic; and

an operator display for displaying machine motion information to an operator in response to the motion display output signal generated by said operator display output logic.

48. The system as set forth in claim 45 above, wherein said machine control system is a machine tool control system, wherein said machine is a milling machine, and wherein said operator motion control device is a momentary switch.