B - Operations – Transporting – 41 – F
Patent
B - Operations, Transporting
41
F
197/38, 341/88
B41F 33/12 (2006.01) G05B 19/23 (2006.01)
Patent
CA 1155523
- 1 - D/79014 ABSTRACT OF THE INVENTION Apparatus is disclosed for controlling the movement of a moveable element between an initial starting position and final stopping position. The apparatus comprises drive means coupled to the moveable element and responsive to motor drive signals for moving the movable element along a predefined path between the starting and stopping positions; first generating means coupled to the drive means for generating an actual velocity signal indicative of the actual speed of movement of the movable element; second generating means responsive to a position signal indicative of the distance remaining to travel by the movable element toward the desired stopping position for generating first and second command velocity signals respectively indicative of the minimum and maximum desired velocity levels for such particular distance remaining to travel; and control means coupled to the first and second generating means and responsive to the position signal for comparing the actual velocity signal with each of the first and second command velocity signals when the value of the position signal indicates the movable element has greater than a predetermined distance to travel, and for issuing the motor drive signals in response to such a comparison for application to the drive means to cause (a) the acceleration of the movable element by the drive means when thecomparison indicates the actual velocity of the movable element is less than the minimum desired velocity, (b) the coasting of the movable element when the comparison indicates the actual velocity of the movable element is more than the minimum desired velocity and less than the maximum desired velocity, and (c) the deceleration of the movable element by the drive means when the comparison indicates the actual velocity of the movable element exceeds the maximum desired velocity.
379912
Herendeen Carl E.
Ragen Robert A.
Sim & Mcburney
Xerox Corporation
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