Cincinnati Milacron Inc.

Richard E Hohn

Gregory Webb

John C Lauchnor

Charles C Teach

A machine and control are provided for effecting motion of a function element, such as an adhesive material dispensing gun, and controlling the operation of the function element by means of a control signal proportional to the velocity of a workpoint associated with the function element. The control produces a velocity signal representing the velocity of the workpoint, calculates the value of a control signal using the velocity signal and predetermined constant defining the constant of proportionality and zero velocity output and applies the control signal to a digital-to-analogue converter to produce an output signal for controlling the function element.

Velocity proportional dac for use with a program controlled manipulator

A method and apparatus are disclosed for modifying command signals representing predetermined positions of a machine element relative a workpiece as a function of measurable unprogrammed changes in the relative position therebetween. The machine element is responsive to a servomechanism circuit which in turn responds to a control device producing the command signals to command motion of the machine element to programmed points relative to the workpiece. The servomechanism circuit produces interrupt signals for transferring the command signals thereto. A measuring circuit is responsive to the unprogrammed change in relative position between the machine element and the workpiece and is operative to produce feedback signals representing the direction and magnitude of the change in relative position. A first circuit is responsive to the measuring circuit for producing a first signal representing a current unprogrammed change in relative position with reference to a predetermined point. A second circuit is responsive to the measuring circuit for producing a second signal representing an estimate of the unprogrammed change in relative position during a queuing delay defined by a number of interrupt signals. A further circuit is operative to modify the command signals as a function of the first signals and the second signals whereby said modified command signals are compensated by the unprogrammed change in relative position and cause the machine element to move to the predetermined positions relative to the workpiece.

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Cincinnati, OH, United States of America

Richard E Hohn