US3699317A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Sampled data numerical contouring machine controller apparatus and method providable with on line capability for contour cornering deceleration and acceleration
Assignee: AUTOMATION INTELLIGENCE Inc 1200 WEST COLONIAL DRIVE ORLANDO FL 32804 A CORP OF
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Filing: 1970-05-22
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Granted: 1972-10-17
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Expires: 1990-05-22
Abstract
Abstract A numerical contouring controller employs ramped velocity commands for pre-corner slowdown and post-corner speedup in the relative movement between the controlled machine tool and a workpiece. The controller includes a digital computer which generates a command position trajectory. The computer operates in a closed position loop at a predetermined sampling frequency to compare accumulated position feedback data and the command position and thereby to generate command data to velocity loop controls which accurately position the machine tool slides. A program system operates the computer to make and implement the motion command determination including path speed change determinations and to make and implement nonmotion command determinations for machine tool, data input and machine operator interfacing.
Inventors
- 👤 Alan E Middleditch
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 03:50
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/414; G05B2219/00; G05B2219/30; G05B2219/33; G05B2219/33088; G05B2219/33098; G05B2219/33268; G05B2219/34; G05B2219/34053; G05B2219/34132; G05B2219/34153; G05B2219/34156; G05B2219/34179; G05B2219/35; G05B2219/35286; G05B2219/35436; G05B2219/35481; G05B2219/36; G05B2219/36366; G05B2219/36368; G05B2219/37; G05B2219/37175; G05B2219/41; G05B2219/41021; G05B2219/41091; G05B2219/41241; G05B2219/41245; G05B2219/41363; G05B2219/41469; G05B2219/43; G05B2219/43006; G05B2219/43009; G05B2219/43158; G05B2219/43183; G05B2219/49; G05B2219/49164; G05B2219/50; G05B2219/50019; G05B2219/50048; G05B2219/50083; G05B2219/50193; Y; Y02; Y02P; Y02P90/00; Y02P90/02
Claims Analysis
Total Claims: 109
Claim 1
Independent Claim
112 words
A numerical contouring controller for a machine having at least two members movable along or about respective motion axes, said controller comprising means for generating a command position trajectory, for each of the two axes in response to input numerical command data, means for generating feedback data relative to the position of each of the machine members, means for accumulating the position feedback data, means for detecting the accumulated position feedback data substantially at each Of successive sample time points, means for generating command outputs in response to the command position trajectories and the sampled position feedback data, and means for operating the two machine members in response to the command outputs.
Claim 2
Dependent Claim
112 words
A numerical contouring controller for a machine having at least two members movable along or about respective motion axes, said controller comprising means for generating a command position trajectory, for each of the two axes in response to input numerical command data, means for generating feedback data relative to the position of each of the machine members, means for accumulating the position feedback data, means for detecting the accumulated position feedback data substantially at each Of successive sample time points, means for generating command outputs in response to the command position trajectories and the sampled position feedback data, and means for operating the two machine members in response to the command outputs.
Claim 3
Dependent Claim
23 words
A controller as set forth in claim 1 wherein the time points are substantially equally spaced to provide a fixed time sampling system.
Claim 4
Dependent Claim
57 words
A controller as set forth in claim 2 wherein a digital computer detects the accumulated feedback data and generates the trajectories and the command outputs, and the sampling rate is greater than approximately 20 Hertz and less than a rate approximately equal to the ratio of 3 microseconds to the computer memory cycle time times 4 hundred.
Claim 5
Dependent Claim
41 words
A controller as set forth in claim 2 wherein a digital computer detects the accumulated feedback data and generates the trajectories and the command outputs, and the sampling rate is greater than approximately 20 Hertz and less than approximately 400 Hertz.
Claim 6
Dependent Claim
84 words
A controller as set forth in claim 1 wherein the input command data includes data representative of the end points of successive segments along a desired contour, the command position trajectories are formed by successive axis points corresponding to points along the segment between the segment end points, and means are provided for operating said feedback data detecting means and said position trajectory generating means at a predetermined sampling rate to generate feedback data detections and command point generations at the same sampling rate.
Claim 7
Dependent Claim
32 words
A controller as set forth in claim 5 wherein means are provided for each axis for determining in one sampling period the command point to be generated in the next sampling period.
Claim 8
Dependent Claim
55 words
A controller as set forth in claim 6 wherein the command points are absolute position values, said accumulating and detecting means includes means for determining absolute position values from each detected position feedback, and means are provided for generating an error representation of the difference between the absolute command and position values for each axis.
Claim 9
Dependent Claim
24 words
A controller as set forth in claim 1 wherein a digital computer detects the feedback data and generates the trajectories and the command outputs.
Claim 10
Dependent Claim
22 words
A controller as set forth in claim 8 wherein said accummulating means is a counter read each sample period by said computer.
Claim 11
Dependent Claim
41 words
A controller as set forth in claim 7 wherein means are provided for operating a digital computer to determine the position error for each axis after the feedback position detections and conversions to absolute values without any other intervening arithmetic operations.
Claim 12
Dependent Claim
54 words
A controller as set forth in claim 8 wherein means are provided for operating said computer to detect an operator feed hold request, means are provided for operating said computer during feed hold to prevent the command position trajectories from determining the command outputs and to set the command outputs substantially equal to zero.
Claim 13
Dependent Claim
50 words
A controller as set forth in claim 8 wherein means are provided for operating said computer to detect changes in the feedrate override value, and means are provided for operating said computer to change the time scales for the command position trajectories in proportion to changes in the feedrate override.
Claim 14
Dependent Claim
130 words
A controller as set forth in claim 8 wherein the input-command data pertains to successive contour segments and means are provided for operating said computer to determine whether a slowdown is required prior to the end of each segment, means are provided for operating said computer to determine a segment point at which to reduce speed in each segment determined to require slowdown, means are provided for operating said computer to implement in the command position trajectories a speed reduction from the segment operating speed value to a lower speed value for each segment determined to require slowdown, means are provided for operating said computer to implement In the generation of the command position trajectories any speed increase required by the command data for each segment following a slowdown segment.
Claim 15
Dependent Claim
33 words
A controller as set forth in claim 13 wherein means are provided for operating said computer to implement the slowdowns and speed increases as constant ramp speed changes in the command position trajectories.
Claim 16
Dependent Claim
15 words
A controller as set forth in claim 13 wherein the lower speed value is zero.
Claim 17
Dependent Claim
40 words
A controller as set forth in claim 13 wherein said computer is operated to determine a need for slowdown if the difference in any axis velocity between successive segments is greater than a specified deceleration rate times the sampling period.
Claim 18
Independent Claim
175 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising: operating a computer for determining input numerical command data including data representative of the end points of successive segments along a desired contour, operating a computer for generating representations of successive axis points corresponding to points along the segments between the segment end points to form a command position trajectory for each of the two axes in response to the input command data, generating a sampling determinant at a predetermined rate, operating a computer for generating the successive trajectory command point representations at the sampling determinant rate, operating a computer for determining the successive command points for at least one axis, by adding the next previous command point to a position change quantity which is representative of sample period velocity times the sampling period, operating a computer for generating command outputs at least in response to the command position trajectories, and operating the two machine members in response to the command outputs.
Claim 19
Independent Claim
175 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising: operating a computer for determining input numerical command data including data representative of the end points of successive segments along a desired contour, operating a computer for generating representations of successive axis points corresponding to points along the segments between the segment end points to form a command position trajectory for each of the two axes in response to the input command data, generating a sampling determinant at a predetermined rate, operating a computer for generating the successive trajectory command point representations at the sampling determinant rate, operating a computer for determining the successive command points for at least one axis, by adding the next previous command point to a position change quantity which is representative of sample period velocity times the sampling period, operating a computer for generating command outputs at least in response to the command position trajectories, and operating the two machine members in response to the command outputs.
Claim 20
Dependent Claim
22 words
A method for operating a machine as set forth in claim 17 wherein the sample period velocity is the average section velocity.
Claim 21
Dependent Claim
36 words
A method for operating a machine as set forth in claim 17, wherein the computer is operated to detect operator feedrate override setting and the position change quantity is made a function of the feedrate override.
Claim 22
Dependent Claim
41 words
A method for operating a machine as set forth in claim 19 wherein the feedrate override is represented as a percentage value, and the computer is further operated to apply the feedrate representation as a multiplier in the position change quantity.
Claim 23
Dependent Claim
51 words
A method for operating a machine as set forth in claim 17 wherein the computer is further operated to determine the position change quantity by adding the next previous sample period position quantity to any required acceleration or deceleration in the present sample period times the square of the sample period.
Claim 24
Dependent Claim
20 words
A method for operating a machine as set forth in claim 21 wherein the acceleration or deceleration value is constant.
Claim 25
Dependent Claim
97 words
A method for operating a machine as set forth in claim 17 wherein a first program is executed in the computer at a rate equal to the sampling rate, the successive trajectory command points and the command outputs are determined during the execution of the first program, at least one second program is executed in the computer during nonoperating periods of the first program, and predetermined calculations are made on the input command data during the second program execution to develop precalculated data for use in making the command point determinations during execution of the first program.
Claim 26
Dependent Claim
61 words
A method for operating a machine as set forth in claim 23 wherein the precalculated data includes representations of respective distances over which acceleration rate and constant speed and deceleration rate values are to be implemented in the trajectories, and the position change quantity is determined in accordance with the distance representations and the acceleration and deceleration and constant speed values.
Claim 27
Dependent Claim
53 words
A method for operating a machine as set forth in claim 24 wherein the pRecalculated data further includes the product of a constant specified acceleration or deceleration value and the sampling period so that the position change representation can be determined by an addition or subtraction operation during execution of the first program.
Claim 28
Dependent Claim
73 words
A method for operating a machine as set forth in claim 17 wherein the computer is further operated to determine the one axis as the fastest axis in each segment and to determine the slope of each segment relative to the fastest axis and to determine from the corresponding slope and the corresponding fastest axis command points for the other axis in each segment thereby to form the other axis command position trajectory.
Claim 29
Independent Claim
165 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising: operating a computer for determining input numerical command data including data representative of the end points of successive segments along a desired contour, operating a computer for generating representations of successive axis points corresponding to points along the segments between the segment end points to form a command position trajectory for each of the two axes in response to the input command data, operating a computer for determining whether acceleration and deceleration are required in each segment, and to implement acceleration and deceleration determinations in generating the command position trajectories, generating a sampling determinant at a predetermined rate, operating a computer for generating the successive trajectory command point representations at the sampling determinant rate, operating a computer for generating command outputs at least in response to the command position trajectories, and operating the two machine members in response to the command outputs.
Claim 30
Independent Claim
165 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising: operating a computer for determining input numerical command data including data representative of the end points of successive segments along a desired contour, operating a computer for generating representations of successive axis points corresponding to points along the segments between the segment end points to form a command position trajectory for each of the two axes in response to the input command data, operating a computer for determining whether acceleration and deceleration are required in each segment, and to implement acceleration and deceleration determinations in generating the command position trajectories, generating a sampling determinant at a predetermined rate, operating a computer for generating the successive trajectory command point representations at the sampling determinant rate, operating a computer for generating command outputs at least in response to the command position trajectories, and operating the two machine members in response to the command outputs.
Claim 31
Dependent Claim
24 words
A method for operating a machine as set forth in claim 27, wherein the acceleration and deceleration rate values are specified as predetermined constants.
Claim 32
Dependent Claim
33 words
A method for operating a machine as set forth in claim 28 wherein segment deceleration is instituted when required to reach zero velocity at the end of segments in which deceleration is required.
Claim 33
Independent Claim
182 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising: operating a computer for determining input numerical command data including data representative of the end points of successive segments along a desired contour, operating a computer for generating representations of successive axis points corresponding to points along the segments between the segment end points to form a command position trajectory for each of the two axes in response to the input command data, generating a sampling determinant at a predetermined rate, operating a computer for generating the successive trajectory command point representations at the sampling determinant rate, operating a computer for generating feedback data relative to tee position of each of the machine members, the position feedback data being accumulated, the accumulated feedback data being periodically detected by the computer at the sampling rate, and further operating the computer for generating the command outputs in response to the command position trajectories and the sampled position feedback data, and operating the two machine members in response to the command outputs.
Claim 34
Independent Claim
182 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising: operating a computer for determining input numerical command data including data representative of the end points of successive segments along a desired contour, operating a computer for generating representations of successive axis points corresponding to points along the segments between the segment end points to form a command position trajectory for each of the two axes in response to the input command data, generating a sampling determinant at a predetermined rate, operating a computer for generating the successive trajectory command point representations at the sampling determinant rate, operating a computer for generating feedback data relative to tee position of each of the machine members, the position feedback data being accumulated, the accumulated feedback data being periodically detected by the computer at the sampling rate, and further operating the computer for generating the command outputs in response to the command position trajectories and the sampled position feedback data, and operating the two machine members in response to the command outputs.
Claim 35
Dependent Claim
52 words
A method for operating a machine as set forth in claim 30 wherein the computer is further operated to determine the successive command points for at least one axis by adding the next previous command point to a position change quantity which is representative of sample period velocity times the sampling period.
Claim 36
Dependent Claim
51 words
A method for operating a machine as set forth in claim 31 wherein the computer is further operated to determine the position change quantity by adding the next previous sample period position quantity to any required acceleration or deceleration in the present sample period times the sQuare of the sample period.
Claim 37
Dependent Claim
97 words
A method for operating a machine as set forth in claim 31 wherein a first program is executed in the computer at a rate equal to the sampling rate, the successive trajectory command points and the command outputs are determined during the execution of the first program, at least one second program is executed in the computer during nonoperating periods of the first program, and predetermined calculations are made on the input command data during the second program execution to develop precalculated data for use in making the command point determinations during execution of the first program.
Claim 38
Dependent Claim
61 words
A method for operating a machine as set forth in claim 33 wherein the precalculated data includes representations of respective distances over which acceleration rate and constant speed and deceleration rate values are to be implemented in the trajectories, and the position change quantity is determined in accordance with the distance representations and the acceleration and deceleration and constant speed values.
Claim 39
Dependent Claim
41 words
A method for operating a machine as set forth in claim 30 wherein the computer is operated to determine whether acceleration and deceleration are required in each segment and to implement acceleration and deceleration determinations in generating the command position trajectories.
Claim 40
Dependent Claim
48 words
A method for operating a machine as set forth in claim 27 wherein the acceleration determination is made by comparing of a distance quantity representative of endpoint speed in each segment and a distance quantity representative of required speed in each next segment thereby avoiding square root calculations.
Claim 41
Dependent Claim
149 words
A numerical contouring controller for a machine having at least two members movable along or about respective axes, said controller comprising a digital computer, means for operating said computer to determine input numerical command data including data representative of the end points of successive segments along a desired contour, means for operating said computer to generate successive axis points corresponding to points along the segments between the segment end points thereby to form a command position trajectory for each of the two axes in response to the input command data, means for operating the computer to determine whether acceleration and deceleration are required in each segment and to implement acceleration and deceleration determinations in generating the command position trajectories, means for generating a sampling determinant at a predetermined rate, and means for operating said computer to generate the successive command points on the trajectory at the sampling determinant rate.
Claim 42
Dependent Claim
149 words
A numerical contouring controller for a machine having at least two members movable along or about respective axes, said controller comprising a digital computer, means for operating said computer to determine input numerical command data including data representative of the end points of successive segments along a desired contour, means for operating said computer to generate successive axis points corresponding to points along the segments between the segment end points thereby to form a command position trajectory for each of the two axes in response to the input command data, means for operating the computer to determine whether acceleration and deceleration are required in each segment and to implement acceleration and deceleration determinations in generating the command position trajectories, means for generating a sampling determinant at a predetermined rate, and means for operating said computer to generate the successive command points on the trajectory at the sampling determinant rate.
Claim 43
Dependent Claim
159 words
A numerical contouring controller for a machine having at least two members movable along or about respective axes, said controller comprising a digital computer, means for operating said computer to determine input numerical command data including data representative of the end points of successive segments along a desired contour, means for operating said computer to generate successive axis points corresponding to points along the segments between the segment end points thereby to form a command position trajectory for each of the two axes in response to the input command data, means for generating a sampling determinant at a predetermined rate, means for operating the computer to determine the successive command points, for at least one axis by adding the next previous command point to a position change quantity which is representative of sample period velocity times the sampling period, and means for operating said computer to generate the successive command points on the trajectory at the sampling determinant rate.
Claim 44
Dependent Claim
159 words
A numerical contouring controller for a machine having at least two members movable along or about respective axes, said controller comprising a digital computer, means for operating said computer to determine input numerical command data including data representative of the end points of successive segments along a desired contour, means for operating said computer to generate successive axis points corresponding to points along the segments between the segment end points thereby to form a command position trajectory for each of the two axes in response to the input command data, means for generating a sampling determinant at a predetermined rate, means for operating the computer to determine the successive command points, for at least one axis by adding the next previous command point to a position change quantity which is representative of sample period velocity times the sampling period, and means for operating said computer to generate the successive command points on the trajectory at the sampling determinant rate.
Claim 45
Dependent Claim
54 words
A numerical contouring controller as set forth in claim 38 wherein means are provided for operating the computer to determine the position change quantity by adding the next previous sample period velocity times the sample period to any required acceleration or deceleration in the present sample period times the square of the sample period.
Claim 46
Dependent Claim
18 words
A numerical contouring controller as set forth in claim 39 wherein the acceleration or deceleration value is constant.
Claim 47
Dependent Claim
112 words
A numerical contouring controller for a machine having at least two members movable along or about respective motion axes, said controller comprising a digital computer, means for operating said computer to generate a command position trajectory for each of the two axes in response to input numerical command data, means for generating feedback data relative to the position of each of the machine members, means for transferring the feedback position data from said generating means to said computer, means for operating said computer to generate command outputs in response to the command position trajectories and the position feedback data, and means for operating the machine members in response to the command outputs.
Claim 48
Dependent Claim
112 words
A numerical contouring controller for a machine having at least two members movable along or about respective motion axes, said controller comprising a digital computer, means for operating said computer to generate a command position trajectory for each of the two axes in response to input numerical command data, means for generating feedback data relative to the position of each of the machine members, means for transferring the feedback position data from said generating means to said computer, means for operating said computer to generate command outputs in response to the command position trajectories and the position feedback data, and means for operating the machine members in response to the command outputs.
Claim 49
Dependent Claim
45 words
A numerical contouring controller as set forth in claim 41 wherein means are provided for operating said computer to generate interfacing data outputs in response to other data inputs, and means for responding to the interfacing data outputs to operate operator and machine interfacing devices.
Claim 50
Dependent Claim
76 words
A numerical contouring controller as set forth in claim 41 wherein the input command data includes data representative of the end points of successive segments along a desired contour, the command position trajectories are formed by successive command axis points corresponding to points along the segment between the segment end points and wherein means are provided for operating said computer to generate the successive command axis points in respective sample periods occurring at a predetermined rate.
Claim 51
Dependent Claim
56 words
A numerical contouring controller as set forth in claim 41 wherein means are provided for operating said computer to detect an operator feed hold request, means are provided for operating said computer during feed hold to prevent the command position trajectories from determining the command outputs and to set the command outputs substantially equal to zero.
Claim 52
Dependent Claim
52 words
A numerical contouring controller as set forth in claim 41 wherein means are provided for operating said computer to detect changes in the feedrate override value, and means are provided for operating said computer to change the time scales for the command position trajectories in proportion to changes in the feedrate override.
Claim 53
Dependent Claim
124 words
A numerical contouring controller as set forth in claim 41 wherein means are provided for operating said computer to determine whether a slowdown is required prior to the end of each segment, means are provided for operating said computer to determine a segment point at which to reduce speed in each segment determined to require a slowdown, means are provided for operating said computer to implement in the command position trajectories a speed reduction from the segment operating speed value to a lower speed value for each segment determined to require slowdown, means are provided for operating said computer to implement in the generation of the command position trajectories any speed increased required by the command data for each segment following a slowdown segment.
Claim 54
Dependent Claim
34 words
A numerical contouring controller as set forth in claim 46 wherein means are provided for operating said computer to implement the slowdowns and speed increases as ramp speed changes in the command position trajectories.
Claim 55
Dependent Claim
45 words
A numerical contouring controller as set forth in claim 47 wherein means are provided for operating said computer to determine a need for slowdown if the difference in any axis velocity between successive segments is greater than a specified deceleration rate times the sampling period.
Claim 56
Dependent Claim
42 words
A numerical contouring controller as set forth in claim 41 wherein means are provided for operating said computer to determine whether acceleration and deceleration are required in each segment and to implement acceleration and deceleration determinations in generating the command position trajectories.
Claim 57
Independent Claim
99 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising generating feedback data relative to the position of each of the machine members, accumulating the position feedback data, transferring the position feedback data to the input of a digital computer, operating the computer to generate a command position trajectory for each of the two axes, operating the computer to generate command outputs in response to the command position trajectories and the position feedback data, and operating the two machine members in response to the command outputs.
Claim 58
Independent Claim
99 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising generating feedback data relative to the position of each of the machine members, accumulating the position feedback data, transferring the position feedback data to the input of a digital computer, operating the computer to generate a command position trajectory for each of the two axes, operating the computer to generate command outputs in response to the command position trajectories and the position feedback data, and operating the two machine members in response to the command outputs.
Claim 59
Dependent Claim
39 words
A method for operating a machine as set forth in claim 50 wherein interfacing data outputs are generated in response to other data inputs and operator and machine interfacing devices are operated in response to the interfacing data outputs.
Claim 60
Dependent Claim
75 words
A method for operating a machine as set forth in claim 50 wherein the input command data includes data representative of the end points of successive segments along a desired contour, the command position trajectories are formed by successive command axis points corresponding to points along the segment between the segment end points and wherein the computer is operated to generate the successive command axis points in respective sample periods occurring at a predetermined rate.
Claim 61
Dependent Claim
41 words
A method for operating a machine as set forth in claim 50 wherein the computer is operated to determine whether acceleration and deceleration are required in each segment and to implement acceleration and deceleration determinations in generating the command position trajectories.
Claim 62
Independent Claim
138 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising generating feedback data relative to the position of each of the machine members, writing the programs in a program system for a digital computer in assembly language, assembling and entering the program system into the computer memory, operating the computer in accordance with the program system to obtain input axis motion command data and other data and to obtain the generated position feedback data, operating said computer to generate data interfacing outputs in response to the other data, operating said computer to generate axis motion control data outputs in response to the axis motion command data, and operating predetermined machine tool and operator interface devices and the machine members in response to the data outputs.
Claim 63
Independent Claim
138 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising generating feedback data relative to the position of each of the machine members, writing the programs in a program system for a digital computer in assembly language, assembling and entering the program system into the computer memory, operating the computer in accordance with the program system to obtain input axis motion command data and other data and to obtain the generated position feedback data, operating said computer to generate data interfacing outputs in response to the other data, operating said computer to generate axis motion control data outputs in response to the axis motion command data, and operating predetermined machine tool and operator interface devices and the machine members in response to the data outputs.
Claim 64
Dependent Claim
74 words
A method for operating a machine as set forth in claim 54 wherein the input command data includes data representative of the end points of successive segments along a desired contour, the command position trajectories are formed by successive command axis points corresponding to points along the segment between the segment end points and the computer is operated to generate the successive command axis points in respective sample periods occurring at a predetermined rate.
Claim 65
Dependent Claim
41 words
A method for operating a machine as set forth in claim 54 wherein the computer is operated to determine whether acceleration and deceleration are required in each segment and to implement acceleration and deceleration determination in generating the command position trajectories.
Claim 66
Dependent Claim
71 words
A method for operating a machine as set forth in claim 54 wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer at the sampling rate, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 67
Dependent Claim
71 words
A method for operating a machine as set forth in claim 55 wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer at the sampLing rate, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 68
Dependent Claim
71 words
A method for operating a machine as set forth in claim 56 wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer at the sampling rate, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 69
Dependent Claim
71 words
A method for operating a machine as set forth in claim 52 wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer at the sampling rate, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 70
Dependent Claim
71 words
A method for operating a machine as set forth in claim 53 wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer at the sampling rate, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 71
Dependent Claim
176 words
A numerical contouring method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising obtaining numerical command data for each of successive contour segments, determining a representation of whether a speed reduction is required prior to the end of each segment, determining a representation of a segment point at which to reduce speed in each segment determined to require slowdown, generating a command position trajectory for each of the two axes in response to the command data, implementing in the generation of the command position trajectories a ramp speed reduction from the segment operating speed value to zero speed value over the distance from the determined slowdown point to the end of each segment determined to require slowdown, implementing in the generation of the command position trajectories a ramp speed increase from the starting point of each segment following a deceleration segment, determining command output at least in response to the command position trajectories, and operating the machine members in response to the command outputs.
Claim 72
Dependent Claim
176 words
A numerical contouring method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising obtaining numerical command data for each of successive contour segments, determining a representation of whether a speed reduction is required prior to the end of each segment, determining a representation of a segment point at which to reduce speed in each segment determined to require slowdown, generating a command position trajectory for each of the two axes in response to the command data, implementing in the generation of the command position trajectories a ramp speed reduction from the segment operating speed value to zero speed value over the distance from the determined slowdown point to the end of each segment determined to require slowdown, implementing in the generation of the command position trajectories a ramp speed increase from the starting point of each segment following a deceleration segment, determining command output at least in response to the command position trajectories, and operating the machine members in response to the command outputs.
Claim 73
Dependent Claim
42 words
A method for operating a machine as set forth in claim 62 wherein a digital computer is employed to generate the command position trajectories and to implement the ramp speed reductions and increases in the trajectories and to determine the command outputs.
Claim 74
Dependent Claim
67 words
A method for operating a machine as set forth in claim 63 wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 75
Dependent Claim
72 words
A method for operating a machine as set forth in claim 62 wherein the numerical command data includes data representative of the end points of successive segments along a desired contour, the computer forms the command position trajectories from successive command axis points corresponding to points along the segment between the segment end points and the computer generates the successive command axis points in respective sample periods occurring at a predetermined rate.
Claim 76
Dependent Claim
71 words
A method for operating a machine as set forth in claim 65 wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumUlated feedback data is periodically detected by the computer at the sampling rate, and the computer is further operated to generate the command output in response to the command position trajectories and the sample position feedback data.
Claim 77
Dependent Claim
52 words
A method for operating a machine as set forth in claim 65 wherein the computer is further operated to determine the successive command points for at least one axis by adding the next previous command point to a position change quantity which is representative of sample period velocity times the sampling period.
Claim 78
Dependent Claim
21 words
A method for operating a machine as set forth in claim 67 wherein the sample period velocity is the average velocity.
Claim 79
Dependent Claim
54 words
A method for operating a machine as set forth in claim 67 wherein the computer is further operated to determine the position change quantity by adding the next previous sample period velocity times the sample period to any required acceleration or deceleration in the present sample period times the square of the sample period.
Claim 80
Dependent Claim
20 words
A method for operating a machine as set forth in claim 69 wherein the acceleration or deceleration value is constant.
Claim 81
Dependent Claim
73 words
A method for operating a machine as set forth in claim 73 wherein the computer is further operated to determine the one axis as the fastest axis in each segment and to determine the slope of each segment relative to the fastest axis and to determine from the corresponding slope and the corresponding fastest axis command points for the other axis in each segment thereby to form the other axis command position trajectory.
Claim 82
Independent Claim
65 words
A method for operating a machine wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer at the sampling rate, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 83
Independent Claim
65 words
A method for operating a machine wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer at the sampling rate, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 84
Independent Claim
168 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising operating a digital computer to determine input numerical command data including data representative of the end points of successive contour segments, operating the computer to determine the fastest axis in each segment, operating the computer to determine successive axis points corresponding to points along the segments between the segment end points for the fastest axis in each segment thereby to form a fastest axis command position trajectory, operating the computer to determine the slope of each segment relative to the fastest axis, operating the computer to determine from the corresponding slope and the corresponding fastest axis command points successive axis command points for the other axis in each segment thereby to form the other axis command position trajectory, operating the computer to generate command outputs at least in response to the command position trajectories, and operating the machine members in response to the command outputs.
Claim 85
Independent Claim
168 words
A method for operating a machine having at least two members movable along or about respective axes, the steps of said method comprising operating a digital computer to determine input numerical command data including data representative of the end points of successive contour segments, operating the computer to determine the fastest axis in each segment, operating the computer to determine successive axis points corresponding to points along the segments between the segment end points for the fastest axis in each segment thereby to form a fastest axis command position trajectory, operating the computer to determine the slope of each segment relative to the fastest axis, operating the computer to determine from the corresponding slope and the corresponding fastest axis command points successive axis command points for the other axis in each segment thereby to form the other axis command position trajectory, operating the computer to generate command outputs at least in response to the command position trajectories, and operating the machine members in response to the command outputs.
Claim 86
Dependent Claim
40 words
A method for operating a machine as set forth in claim 73 wherein a sampling determinant is generated at a predetermined rate, and the computer is further operated to generate the successive trajectory command points at the sampling determinant rate.
Claim 87
Dependent Claim
71 words
A method for operating a machine as set forth in claim 74 wherein feedback data is generated relative to the position of each of the machine members, the position feedback data is accumulated, the accumulated feedback data is periodically detected by the computer at the sampling rate, and the computer is further operated to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 88
Independent Claim
142 words
A method for operating a digital numerical contouring computer used in a controller for a machine having at least two movable members along or about respective axes, the steps of said method comprising executing a first program at a predetermined clocked sampling rate, determining axis command position trajectories during successive first program executions by generating successive axis points corresponding to points along the segments between the segment end points in response to precalculated data, determining during the first program executions machine member command outputs in response at least to the command position trajectories, executing at least one second program during nonoperating periods of the first program, determining during the execution of the second program input numerical command data, and making predetermined precalculations on the input command data to develop the precalculated data for the first program during execution of the second program.
Claim 89
Independent Claim
142 words
A method for operating a digital numerical contouring computer used in a controller for a machine having at least two movable members along or about respective axes, the steps of said method comprising executing a first program at a predetermined clocked sampling rate, determining axis command position trajectories during successive first program executions by generating successive axis points corresponding to points along the segments between the segment end points in response to precalculated data, determining during the first program executions machine member command outputs in response at least to the command position trajectories, executing at least one second program during nonoperating periods of the first program, determining during the execution of the second program input numerical command data, and making predetermined precalculations on the input command data to develop the precalculated data for the first program during execution of the second program.
Claim 90
Dependent Claim
43 words
A computer operating method as set forth in claim 76 wherein there is further determined during the first program execution accumulated feedback data, and the feedback data and the command position trajectory are compared in each sample period to determine the command outputs.
Claim 91
Dependent Claim
48 words
A computer operating method as set forth in claim 77 wherein the first program further determines the successive command points for at least one axis by adding the next previous command point to a position change quantity which is representative of sample period velocity times the sampling period.
Claim 92
Dependent Claim
50 words
A computer operating method as set forth in claim 78 wherein the first program further determines the position change quantity by adding the next previous sample period velocity times the sample period to any required acceleration or deceleration in the present sample period times the square of the sample period.
Claim 93
Dependent Claim
20 words
A computer operating method as set forth in claim 79 wherein the acceleration or deceleration rate value is a constant.
Claim 94
Dependent Claim
56 words
A computer operating method as set forth in claim 80 wherein the precalculated data includes respective distances over which acceleration rate and constant speed and deceleration rate values are to be implemented in the trajectories, and the position change quantity is determined in accordance with the distances and the acceleration and deceleration and constant speed values.
Claim 95
Dependent Claim
51 words
A computer operating method as set forth in claim 81 wherein the precalculated data further includes the product of a constant specified acceleration or deceleration value and the sampling period so that the position change representation can be determined by an addition or subtraction operation during execution of the first program.
Claim 96
Dependent Claim
63 words
A computer operating method as set forth in claim 77 wherein the computer is further operated to determine one axis as the fastest axis in each segment and to determine the slope of each segment relative to the fastest axis and to determine from the corresponding slope and the corresponding fastest axis the trajectory command points for the other axis in each segment.
Claim 97
Dependent Claim
63 words
A computer operating method as set forth in claim 82 wherein the computer is further operated to determine one axis as the fastest axis in each segment and to determine the slope of each segment relative to the fastest axis and to determine from the corresponding slope and the corresponding fastest axis the trajectory command points for the other axis in each segment.
Claim 98
Dependent Claim
48 words
A computer operating method as set forth in claim 76 wherein the second program determines whether acceleration and deceleration are required in each segment and generates the precalculated data accordingly, and the first program implements the second program acceleration and deceleration determinations in generating the command position trajectories.
Claim 99
Independent Claim
158 words
A method for operating a digital numerical contouring computer used in a controller for a machine having at least two members movable along or about respective axes, the steps of said method comprising determining a command position trajectory for each of the two axes in response to input numerical command data pertaining to successive contour segments, determining a representation of whetHer a speed reduction is required prior to the end of each segment, determining a representation of a segment point at which to reduce speed in each segment determined to require slowdown, implementing in the generation of the command position trajectories a speed reduction from the segment operating speed value to a lower speed value for each segment determined to require slowdown, implementing in the command position trajectories any speed increase required by the command data for each segment following a slowdown segment, and generating commands for output control in response at least to the command position trajectory.
Claim 100
Independent Claim
158 words
A method for operating a digital numerical contouring computer used in a controller for a machine having at least two members movable along or about respective axes, the steps of said method comprising determining a command position trajectory for each of the two axes in response to input numerical command data pertaining to successive contour segments, determining a representation of whetHer a speed reduction is required prior to the end of each segment, determining a representation of a segment point at which to reduce speed in each segment determined to require slowdown, implementing in the generation of the command position trajectories a speed reduction from the segment operating speed value to a lower speed value for each segment determined to require slowdown, implementing in the command position trajectories any speed increase required by the command data for each segment following a slowdown segment, and generating commands for output control in response at least to the command position trajectory.
Claim 101
Dependent Claim
22 words
A computer operating method as set forth in claim 86 wherein ramp speeds are implemented in the trajectories for slowdown and speedup.
Claim 102
Dependent Claim
36 words
A computer operating method as set forth in claim 87 wherein the slowdown speed ramps are implemented in the trajectories to generate a lower speed zero value equal to zero at the end of slowdown segments.
Claim 103
Dependent Claim
194 words
A numerical contouring controller for a machine having at least two members movable along or about respective motion axes, said controller comprising a digital computer, means for operating said computer to generate a command position trajectory for each of the two axes in response to input numerical command data pertaining to successive contour segments, means for operating said computer to determine whether a speed reduction is required prior to the end of each segment, means for operating said computer to determine a segment point at which to reduce speed in each segment determined to require slowdown, means for operating said computer to implement in the generation of the command position trajectories a speed reduction from the segment operating speed value to a lower speed value for each segment determined to require slowdown, means for operating said computer to implement in the generation of the command position trajectories any speed increase required by the command data for each segment following a slowdown segment, means for operating said computer to generate command outputs in response at least to the command position trajectories, and means for operating the two machine members in response to the command outputs.
Claim 104
Dependent Claim
194 words
A numerical contouring controller for a machine having at least two members movable along or about respective motion axes, said controller comprising a digital computer, means for operating said computer to generate a command position trajectory for each of the two axes in response to input numerical command data pertaining to successive contour segments, means for operating said computer to determine whether a speed reduction is required prior to the end of each segment, means for operating said computer to determine a segment point at which to reduce speed in each segment determined to require slowdown, means for operating said computer to implement in the generation of the command position trajectories a speed reduction from the segment operating speed value to a lower speed value for each segment determined to require slowdown, means for operating said computer to implement in the generation of the command position trajectories any speed increase required by the command data for each segment following a slowdown segment, means for operating said computer to generate command outputs in response at least to the command position trajectories, and means for operating the two machine members in response to the command outputs.
Claim 105
Dependent Claim
79 words
A machine controller as set forth in claim 92 wherein means are provided for generating feedback data relative to the position of each of the machine members, means are provided for accumulating the position feedback data, means are provided for operating the computer to detect the accumulated feedback data periodically at the sampling rate, and means are provided for further operating to generate the command outputs in response to the command position trajectories and the sampled position feedback data.
Claim 106
Dependent Claim
129 words
A numerical contouring controller for a machine having at least two members movable along or about respective axes, said controller comprising a digital computer, means for operating said computer to determine input numerical command data, means for operating said computer to determine a command position trajectory for each of the two axes from the input data, means for operating said computer to determine command outputs in response at least to the command position trajectories, means for operating said computer to detect an operator feed hold request, means for operating said computer during feed hold to prevent the command position trajectories from determining the command outputs and to set the command outputs substantially equal to zero, and means for operating the two machine members in response to the command outputs.
Claim 107
Dependent Claim
129 words
A numerical contouring controller for a machine having at least two members movable along or about respective axes, said controller comprising a digital computer, means for operating said computer to determine input numerical command data, means for operating said computer to determine a command position trajectory for each of the two axes from the input data, means for operating said computer to determine command outputs in response at least to the command position trajectories, means for operating said computer to detect an operator feed hold request, means for operating said computer during feed hold to prevent the command position trajectories from determining the command outputs and to set the command outputs substantially equal to zero, and means for operating the two machine members in response to the command outputs.
Claim 108
Dependent Claim
125 words
A numerical contouring controller for a machine having at least two members movable along or about respective axes, said controller comprising a digital computer, means for operating said computer to determine input numerical command data, means for operating said computer to determine a command position trajectory for each of the two axes from the input data, means for operating said computer to determine command outputs in response at least To the command position trajectories, means for operating said computer to detect changes in the operator feedrate override value, means for operating said computer to change the time scales for the command position trajectories in proportion to changes in the feedrate override, and means for operating the machine members in response to the command position trajectories.
Claim 109
Dependent Claim
125 words
A numerical contouring controller for a machine having at least two members movable along or about respective axes, said controller comprising a digital computer, means for operating said computer to determine input numerical command data, means for operating said computer to determine a command position trajectory for each of the two axes from the input data, means for operating said computer to determine command outputs in response at least To the command position trajectories, means for operating said computer to detect changes in the operator feedrate override value, means for operating said computer to change the time scales for the command position trajectories in proportion to changes in the feedrate override, and means for operating the machine members in response to the command position trajectories.
References Cited (Backward Citations)
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Cited
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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) | 1975-10-17 | 1976-04-17 | 1976-10-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1979-10-17 | 1980-04-17 | 1980-10-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1983-10-17 | 1984-04-17 | 1984-10-17 | $7700.00 | Window Closed / Lapsed |