Method and apparatus for machine control
First Claim
1. Method for reducing relative misalignment between a plurality of driving means for propelling a moveable member linearly transverse to its length, the misalignment being measured parallel to the axis of motion of the moveable member, the method comprising the steps of:
- a. determining the magnitude of relative misalignment between the driving means;
b. effecting relative movement of the driving means to reduce the misalignment by an amount determined in accordance with the magnitude of relative misalignment;
wherein position of the driving means is measured by position transducers and the step of determining the magnitude of relative misalignment between the driving means further comprises the step of selecting a procedure for determining the difference between the positions indicated by the transducers according to the types of the transducers.
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Accused Products
Abstract
A control for machine members propelled at plural points along their length to move linearly transverse to member length determines and eliminates skew of the driven points. Skew is determined from position indicated by position transducers associated with the driven points. Various types of position transducers are accommodated, including encoders having outputs from which member position can be determined only with reference to marker outputs of the transducer. For such encoders, the control effects velocity controlled motion to detect position. Skew is eliminated by relatively moving the driven points by the magnitude of the skew.
35 Citations
12 Claims
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1. Method for reducing relative misalignment between a plurality of driving means for propelling a moveable member linearly transverse to its length, the misalignment being measured parallel to the axis of motion of the moveable member, the method comprising the steps of:
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a. determining the magnitude of relative misalignment between the driving means; b. effecting relative movement of the driving means to reduce the misalignment by an amount determined in accordance with the magnitude of relative misalignment; wherein position of the driving means is measured by position transducers and the step of determining the magnitude of relative misalignment between the driving means further comprises the step of selecting a procedure for determining the difference between the positions indicated by the transducers according to the types of the transducers.
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2. Method for reducing relative misalignment between a plurality of driving means for propelling a moveable member linearly transverse to its length, the misalignment being measured parallel to the axis of motion of the moveable member, the method comprising the steps of:
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a. determining the magnitude of relative misalignment between the driving means; b. effecting relative movement of the driving means to reduce the misalignment by an amount determined in accordance with the magnitude of relative misalignment; wherein position of the driving means is measured by transducers which produce marker outputs and the step of determining the magnitude of relative misalignment between the driving means further comprises the steps of; a. moving the driving means simultaneously in the same direction to produce marker outputs from the transducers of all driving means; b. determining a position of each driving means from distances travelled between the occurrences of markers; and c. calculating magnitudes of relative misalignment from the positions of the driving means; wherein the driving means are controlled by a servomechanism controller including a position control and the step of moving the driving means further comprises the step of disabling the position control and effecting velocity control of the driving means. - View Dependent Claims (3, 4, 5)
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6. Method for reducing relative misalignment between a plurality of driving means for propelling a moveable member linearly transverse to its length, the misalignment being measured parallel to the axis of motion of the moveable member, the method comprising the steps of:
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a. determining the magnitude of relative misalignment between the driving means; b. effecting relative movement of the driving means to reduce the misalignment by an amount determined in accordance with the magnitude of relative misalignment; wherein position of the driving means is measured by transducers which produce marker outputs and the step of determining the magnitude of relative misalignment between the driving means further comprises the steps of; a. moving the driving means simultaneously in the same direction to produce marker outputs from the transducers of all driving means; b. determining a position of each driving means from distances travelled between the occurrences of markers; and c. calculating magnitudes of relative misalignment from the positions of the driving means; wherein the transducers are semi-absolute encoders and the step of determining the position of each driving means further comprises the steps of determining the relative magnitude of an interval distance between a first primary marker and an intermediate marker and the intermediate and a second primary marker and determining the position of the driving means from the smaller of the interval distances.
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7. Apparatus for reducing relative misalignment between a plurality of driving means for propelling a moveable member linearly transverse to its length, the misalignment being measured parallel to the axis of motion of the moveable member, the apparatus comprising:
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a. means for determining the magnitude of relative misalignment between the driving means; b. means for effecting relative movement of the driving means to reduce the misalignment by an amount determined in accordance with the magnitude of relative misalignment; wherein the positions of the driving means are indicated by position transducers and the means for determining the magnitude of relative misalignment between the driving means executes procedures selected according to the type of position transducer associated with the driving means. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification