公开(公告)号：EP0389159A3

公开(公告)日：1992-09-02

申请号：EP90302634.2

申请日：1990-03-13

申请人： Hewlett-Packard Company

发明人： Oliver, Thomas C. ,  Wanger, Mark E. ,  Stavely, Donald J. ,  Methlie, Jennifer L. ,  Bianchi, Mark J. ,  Kato, Rick A. ,  Proehl, Kraig A.

IPC分类号： G11B17/22 ,  G05B19/4061 ,  G05B19/25 ,  G05B19/39 ,  G05B19/23

CPC分类号： G11B17/228 ,  G05B19/25 ,  G05B19/39 ,  G05B19/4093 ,  G11B19/00 ,  Y02P90/265

摘要： Disclosed is an optical disk handling system 124), called an autochanger, having two control systems (150Y, 150Z) to provide the six motions necessary to move optical disk cartridges from storage holding cells to an optical drive. The system uses shaft encoders (62, 72) on two motors (60, 70) of the two control systems, and current or voltage feedback from the motors, for all positioning, and for detecting the location of the mechanisms during, and at the end of, moves. The shaft encoders (62, 72) are used to position a mechanism close to the eventual move location, then motor current or voltage feedback is used to determine the opposition to the movement of the mechanism, which tells the control system whether the mechanism has reached its destination. A human operator can enter a cartridge into the system through a mailslot (41), which is rotatable to properly receive or eject cartridges. The control systems use a flip assembly (49) in the autochanger to turn the cartridge over, allowing either side of the disk to be arranged for reading or writing by the optical drive. The control systems use a lateral displacement assembly (51) to move a cartridge from a cell in one of the two columns of the autochanger to a cell in the other column, or to move a cartridge between the optical drive, which is located in one of the columns, to a cell in the other column. The control systems use a cartridge engaging assembly (45) to attach to an exposed end portion of a cartridge positioned in a cell or the optical drive. A longitudinal displacement assembly (47) is used by the control systems to move the cartridge, after attachment, out of the cell or optical drive. After positioning the cartridge vertically and laterally, the longitudinal displacement assembly (47) is then used to move the cartridge into a cell or the optical drive, where the engaging assembly (45) releases the cartridge. An important aspect of the invention is that the longitudinal displacement assembly (47), the flip assembly (49), the lateral displacement assembly (51), the engagement assembly (45), and the mailslot assembly (41) are operated by one of the two control systems. The other of the two control systems is used for vertical displacement of the cartridge.

公开(公告)号：EP0451986B1

公开(公告)日：1997-01-15

申请号：EP91302615.9

申请日：1991-03-26

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： Kyura, Nobuhiro, c/o Tokyo Plant, K.K. Yaskawa ,  Hiraga, Yoshiji, c/o Tokyo Plant, K.K. Yaskawa

IPC分类号： G05B19/25 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B19/25

公开(公告)号：EP0175906A3

公开(公告)日：1988-11-30

申请号：EP85110186

申请日：1985-08-14

申请人： Battelle-Institut e.V.

发明人： Steininger, Helmut, Dr. ,  Wevelsiep, Klaus, Dr. ,  Selders, Matthias, Dr. ,  Sdunzig, Horst-Dieter

IPC分类号： G05B19/23 ,  G06K11/06 ,  G05D01/03

CPC分类号： G05B19/25 ,  G05B2219/37108 ,  G05B2219/37272 ,  G05B2219/41245

摘要： Eine vorrichtung zur Steuerung zweidimensionaler Be wegungen enthält eine Matrix aus mehreren, sich kreuzen den und voneinander isolierten Leiterbahnen, die in x- und y-Richtung eines, vorzugsweise rechtwinkligen Koordinaten systems verlaufen. Dabei liegen die in x-Richtung verlaufen den Leiterbahnen an einer Wechselspannung, deren Fre quenz sich von der Wechselspannungsfrequenz der in y-Richtung verlaufenden Leiterbahnen unterscheidet. Weiter ist ein Signalaufnehmer mit mindestens zwei, vorzugsweise drei Elektroden versehen, der in einer der Matrix parallelen Ebene über die Matrix beweglich angebracht ist. Die Bewe gung des Signalaufnehmers ist mit der zu steuernden Bewegung gekoppelt. Die aus den Elektroden während der Bewegung über die Matrix erzeugten Signale werden zur Richtungs- und Wegbestimmung der zu steuernden Bewe gung ausgewertet.

摘要翻译： 该装置包含由彼此交叉并且彼此绝缘并且在优选矩形坐标系的x方向和y方向上延伸的多个导体轨道构成的矩阵。 同时，沿x方向延伸的导体轨道被提供有频率不同于在y方向上延伸的导体轨迹的交流电压频率的交流电压。 此外，信号检测器设置有至少两个，优选三个电极，并且可移动地安装在平行于矩阵的矩阵上方的平面中。 信号检测器的运动与待控制的运动耦合。 为了确定要控制的运动的方向和距离，评估在跨矩阵运动期间由电极产生的信号。

公开(公告)号：EP0262222A1

公开(公告)日：1988-04-06

申请号：EP86902482.8

申请日：1986-04-09

申请人： SAPPORO BREWERIES, LTD.

发明人： NARITA, Hiroshi ,  KAMIMURA, Minoru ,  MORI, Yoshitada

IPC分类号： G02B21/00 ,  G05B19/403

CPC分类号： G05B19/409 ,  G02B21/00 ,  G02B21/002 ,  G02B21/26 ,  G05B19/25

摘要： A driving unit (1-5) is controlled on the basis of instructions from a control panel (2-1), and the automatic sweeping is done by transferring in a stepped manner or continuously the transfer means (1-3), (1-4), (1-5) which are adapted to move an object-carrying holder (1-2) under an object lens of a microscope two-dimensionally. Various data, such as position data, are printed, memorized and displayed by controlling a printer, a memory and a display so that, when the automatic sweeping is interrupted, manual sweeping is rendered possible immediately, the position of the object detected by a position detector being stored in the memory. When the automatic sweeping is resumed, the sweeping is resumed returning to and starting from a position in which the automatic sweeping was interrupted. When the memorization number is keyed in from the control panel, the holder (1-2) is moved directly to the memory position and, when coordinates other than the memory position are inputted from the control panel, the holder (1-2) is moved directly to the position of the coordinates. The above-described arrangement allows to provide a microscope provided with an automatic sweep device, which is adapted to observe cells and microorganisms on a prepared specimen.

摘要翻译： 通过控制打印机，存储器和显示器来打印，存储和显示诸如位置数据的各种数据，使得当自动扫描被中断时，可以立即进行手动扫描，由位置检测到的对象的位置 检测器存储在存储器中。 当自动扫描恢复时，扫描从恢复自动扫描中断的位置恢复到起始位置。 当从控制面板键入记忆号码时，保持器（1-2）被直接移动到存储位置，并且当从控制面板输入除存储器位置之外的坐标时，保持器（1-2）是 直接移动到坐标的位置。

公开(公告)号：EP0389159B1

公开(公告)日：1996-05-01

申请号：EP90302634.2

申请日：1990-03-13

申请人： Hewlett-Packard Company

发明人： Oliver, Thomas C. ,  Wanger, Mark E. ,  Stavely, Donald J. ,  Methlie, Jennifer L. ,  Bianchi, Mark J. ,  Kato, Rick A. ,  Proehl, Kraig A.

IPC分类号： G11B17/22 ,  G05B19/4061 ,  G05B19/25 ,  G05B19/39 ,  G05B19/23

CPC分类号： G11B17/228 ,  G05B19/25 ,  G05B19/39 ,  G05B19/4093 ,  G11B19/00 ,  Y02P90/265

公开(公告)号：EP0451986A2

公开(公告)日：1991-10-16

申请号：EP91302615.9

申请日：1991-03-26

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： Kyura, Nobuhiro, c/o Tokyo Plant, K.K. Yaskawa ,  Hiraga, Yoshiji, c/o Tokyo Plant, K.K. Yaskawa

IPC分类号： G05B19/25 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B19/25

摘要： First, second and third compensation signals are generated from the information on the position and speed of the first servo system having a speed control loop as a minor loop. The speed error of the speed control loop of the second servo system which has the speed control loop as a minor loop and uses a signal obtained by sampling the position detection signal, executing a digital calculation process on the sampled signal to obtain a speed signal and integrating the speed signal as a position command signal or a signal obtained by sampling the position detection signal of the first servo system and executing a digital calculation process on the sampled signal as a position command signal is compensated by the first, second and third compensation signals. Thus, even in cases where the acceleration and deceleration of the first servo system are executed even at constant power, positional synchronizing error is not generated. The accurate positional synchronizing control between two servo systems having different response characteristics can be achieved.

摘要翻译： 首先，从具有速度控制回路的第一伺服系统的位置和速度的信息作为次循环生成第二和第三补偿信号。 具有速度控制回路作为次级回路的第二伺服系统的速度控制回路的速度误差，并且使用通过对位置检测信号进行采样而获得的信号，对采样信号执行数字计算处理以获得速度信号，以及 将速度信号作为位置指令信号或通过对第一伺服系统的位置检测信号进行采样并对作为位置指令信号的采样信号执行数字计算处理而获得的信号进行积分，由第一，第二和第三补偿信号 。 因此，即使在恒定功率下执行第一伺服系统的加速和减速的情况下，也不产生位置同步误差。 可以实现具有不同响应特性的两个伺服系统之间的精确位置同步控制。

公开(公告)号：EP0262222A4

公开(公告)日：1989-02-22

申请号：EP86902482

申请日：1986-04-09

申请人： SAPPORO BREWERIES

发明人： NARITA HIROSHI ,  UEMURA MINORU ,  MORI YOSHITADA

IPC分类号： G02B21/00 ,  G02B21/26 ,  G05B19/25 ,  G05B19/409 ,  G05B19/403

CPC分类号： G05B19/409 ,  G02B21/00 ,  G02B21/002 ,  G02B21/26 ,  G05B19/25

公开(公告)号：EP1163081A1

公开(公告)日：2001-12-19

申请号：EP99973712.5

申请日：1999-02-25

申请人： Micro Optics Design Corporation

发明人： SAVOIE, Marc, Y.

IPC分类号： B24B13/06 ,  G05B19/25 ,  B23Q1/48

CPC分类号： B23Q1/4852 ,  B24B13/06 ,  G05B19/25

摘要： The apparatus comprises a base having orthogonal horizontal longitudinal axis, horizontal transversal axis and vertical axis, and a tool spindle having a motor and a lens surfacing tool mounted on a rotatable arbour of the motor. The apparatus also comprises a lens holder having a chuck for retaining an ophthalmic lens with a perimeter thereof defining a plane being substantially perpendicular to the longitudinal axis. A first linear slide is affixed to the base and has a first movable support and a first actuator for moving the first movable support along the longitudinal axis. A second linear slide is also affixed to the base and has a second movable support supporting the lens holder and a second actuator for moving the second movable support and the lens holder along the transversal axis. A rotary table is affixed to the first movable support and supports the tool spindle. The rotary table has a third actuator for rotating the rotary table about the vertical axis. A computer is provided for simultaneously controlling displacements of the first, second and third actuators, whereby the first, second and third actuators are operable in a compound mode for enhancing the precision of the movements of the lens surfacing tool in a direction normal to the ophthalmic lens.

公开(公告)号：EP0451986A3

公开(公告)日：1992-09-30

申请号：EP91302615.9

申请日：1991-03-26

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： Kyura, Nobuhiro, c/o Tokyo Plant, K.K. Yaskawa ,  Hiraga, Yoshiji, c/o Tokyo Plant, K.K. Yaskawa

IPC分类号： G05B19/25 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B19/25

摘要： First, second and third compensation signals are generated from the information on the position and speed of the first servo system having a speed control loop as a minor loop. The speed error of the speed control loop of the second servo system which has the speed control loop as a minor loop and uses a signal obtained by sampling the position detection signal, executing a digital calculation process on the sampled signal to obtain a speed signal and integrating the speed signal as a position command signal or a signal obtained by sampling the position detection signal of the first servo system and executing a digital calculation process on the sampled signal as a position command signal is compensated by the first, second and third compensation signals. Thus, even in cases where the acceleration and deceleration of the first servo system are executed even at constant power, positional synchronizing error is not generated. The accurate positional synchronizing control between two servo systems having different response characteristics can be achieved.

公开(公告)号：EP0389159A2

公开(公告)日：1990-09-26

申请号：EP90302634.2

申请日：1990-03-13

申请人： Hewlett-Packard Company

发明人： Oliver, Thomas C. ,  Wanger, Mark E. ,  Stavely, Donald J. ,  Methlie, Jennifer L. ,  Bianchi, Mark J. ,  Kato, Rick A. ,  Proehl, Kraig A.

IPC分类号： G11B17/22 ,  G05B19/4061 ,  G05B19/25 ,  G05B19/39 ,  G05B19/23

CPC分类号： G11B17/228 ,  G05B19/25 ,  G05B19/39 ,  G05B19/4093 ,  G11B19/00 ,  Y02P90/265

摘要： Disclosed is an optical disk handling system 124), called an autochanger, having two control systems (150Y, 150Z) to provide the six motions necessary to move optical disk cartridges from storage holding cells to an optical drive. The system uses shaft encoders (62, 72) on two motors (60, 70) of the two control systems, and current or voltage feedback from the motors, for all positioning, and for detecting the location of the mechanisms during, and at the end of, moves. The shaft encoders (62, 72) are used to position a mechanism close to the eventual move location, then motor current or voltage feedback is used to determine the opposition to the movement of the mechanism, which tells the control system whether the mechanism has reached its destination. A human operator can enter a cartridge into the system through a mailslot (41), which is rotatable to properly receive or eject cartridges. The control systems use a flip assembly (49) in the autochanger to turn the cartridge over, allowing either side of the disk to be arranged for reading or writing by the optical drive. The control systems use a lateral displacement assembly (51) to move a cartridge from a cell in one of the two columns of the autochanger to a cell in the other column, or to move a cartridge between the optical drive, which is located in one of the columns, to a cell in the other column. The control systems use a cartridge engaging assembly (45) to attach to an exposed end portion of a cartridge positioned in a cell or the optical drive. A longitudinal displacement assembly (47) is used by the control systems to move the cartridge, after attachment, out of the cell or optical drive. After positioning the cartridge vertically and laterally, the longitudinal displacement assembly (47) is then used to move the cartridge into a cell or the optical drive, where the engaging assembly (45) releases the cartridge. An important aspect of the invention is that the longitudinal displacement assembly (47), the flip assembly (49), the lateral displacement assembly (51), the engagement assembly (45), and the mailslot assembly (41) are operated by one of the two control systems. The other of the two control systems is used for vertical displacement of the cartridge.

摘要翻译： 公开了一种称为自动转换器的光盘处理系统124），其具有两个控制系统（150Y，150Z），以提供将光盘盒从存储保持单元移动到光驱动所需的六个运动。 该系统在两个控制系统的两个电动机（60,70）上使用轴编码器（62,72），以及来自电动机的电流或电压反馈，用于所有定位，并用于检测机构的位置 结束，移动。 轴编码器（62,72）用于将机构定位成靠近最终的移动位置，然后使用电动机电流或电压反馈来确定与机构的运动的对立，其告知控制系统机构是否已达到 它的目的地。 操作人员可以通过可旋转以适当地接收或弹出墨盒的邮槽（41）将墨盒进入系统。 控制系统使用自动转换器中的翻转组件（49）来转动盒，使得盘的任一侧被布置成由光驱读取或写入。 控制系统使用横向位移组件（51）将盒从自动转换器的两列之一中的单元移动到另一列中的单元，或者将盒位于位于一个中的光驱之间 的列，到另一列中的单元格。 控制系统使用盒式接合组件（45）附接到位于单元或光驱中的盒的暴露端部。 控制系统使用纵向位移组件（47），在附接之后将盒移出单元或光驱。 在垂直和侧向定位盒之后，随后使用纵向位移组件（47）将盒移动到单元或光驱中，其中接合组件（45）释放盒。 本发明的一个重要方面是纵向位移组件（47），翻转组件（49），横向位移组件（51），接合组件（45）和邮槽组件（41）由以下之一 两个控制系统。 两个控制系统中的另一个用于墨盒的垂直位移。