DE2008204B2 - Device for controlling multi-dimensional motion sequences - Google Patents

Description

The invention relates to a device for controlling multi-dimensional motion sequences an organ for sampling pulse trains from input information in binary digits and a magnetic one Drum or disk as storage organ for the binary digits as data blocks, which respectively contain a binary digit representing the forward or backward direction of movement, i.e. a so-called playback machine control.

In the most varied of machines, especially in machine tools for automatic execution of various complicated operations, the numerical control system is widely used. To enable complex, variable operations, such machines are with Using electronic computers automatically

programmed. However, it also often happens that a knowledgeable skilled operator himself or herself must demonstrate an example of the most expedient embodiment of the operation of a machine because the desired operation is extremely complicated.

Through AEG-Mitteilungen, 54 (1964), No. 516, pp. 376 to 381, the principle of numerical measuring machines is described which allow the scanning of curves in the plane or in space and the automatic Evaluation of the scanning results and the output of a printed or punched card or -strip punched numeric program that can later be used as input media for a numeric program Control can serve. A detailed description of such a machine can be found in USA.-Patent 3 473 157. Furthermore, by "Technische Rundschau", No. 2, from 17.1. 1969, P. 19, 21 and 23, in particular P. 21, left column, a device known, which the digitization of drawings. Plans, maps, diagrams, etc. allowed. The coordinate values in the .ν and y directions are measured with two position encoders. The storage can be done on punched tape, punched cards or magnetic tape. There is also the possibility the device on-line, i.e. without using \ ΐ_ · η Data carriers to be connected to a data processing system. As the type of position encoder to be used is not specified, would also be with the sampling of pulse trains of input information if necessary to work.

Instead of the punched tape or tape known in connection with coordination readers of this type Magnetic tapes could, too, if their storage capacity weren't so limited use the known magnetic drums or magnetic disks. Especially the replacement of magnetic tapes with magnetic drums or disks would be very desirable because of their longer useful life and reliability; with magnetic tapes namely, the pulses are often partially suppressed or omitted when the playback device at the point of use is contaminated with dust from magnetic materials and the momentary Starting and braking cause difficulties. Such difficulties arise because of them The reliability of the magnetic drums, magnetic disks and the like that are in widespread use are not on. However, their use for the purposes outlined above is only very limited to this day possible.

The object on which the invention is based therefore consisted in creating a device of the type mentioned at the outset, in the case of suitable switching measures relating to the time lock mechanism the easily occurring overload that is to be expected is avoided and consequently is made accessible to an extended area of application.

This goal can be achieved according to the invention when the device described above in combination nation of the components specified as characterizing in claim 1.

No protection is sought for the individual features.

The subclaims provide further details about preferred exemplary embodiments for the characterizing Features of the components set out.

The measures according to the invention ensure the general usability of the device enabling a remarkable increase in the apparent memory capacity of magnetic drums and the like.

The device according to the invention is therefore a control unit for storing the message content via the coordinate values of the movement sequence of a moved point and for reproduction this sequence of movements due to the

ίο Playback of the input information on the original Movement, namely a control unit of the type in which a train of pulses which contains the data on each of the coordinate values of the movement of the moved point, by means of a reversible counting device counted out during a predetermined unit of time and the number of Pulses of this pulse train are represented in a binary coded form, in such a way that a Block of data including a binary digit representation of the forward or reverse direction of movement is formed; the data blocks thus formed are sequentially stored in series in a storage device (a rotating magnetic drum, Magnetic disk or the like) stored. For the re-

To produce the movement, the stored data blocks are used one after the other for control of the output gate of a linear interpolation circuit interrogated so that the reproduced pulse series approach the original sequence of movements through the modulating linear movement.

Using the example of preferred embodiments, the invention is explained in more detail with reference to the drawings. In the drawings shows

F i g. 1 is a diagram for explaining the mechanism for \ 'mwandlung the two-dimensional motion (in general, three-dimensional movement) in the X and Y coordinates of pulse trains,
F i g. FIG. 2 is a block diagram for a circuit for converting the signals used in the mechanism of FIG. 1 formed pulse series in binary digits, which can be stored in a storage track of a magnetic drum or the like,

F i g. 3 the relative relationships between those in the storage tracks of the magnetic drum stored information data,

F i g. Figure 4 is a block diagram of playback circuitry for reproducing the stored ones Data in the pulse trains corresponding to the modulating linear motion to approach the Initial or original movement,

F i g. Fig. 5 is a view for explaining the relationships between the initial or original movement and the reproduced modulating linear movement,

F i g. 6 is a block diagram of an information storage system of the device according to the invention;

7 is a block diagram of a simplified control system;

F i g. 8 is a block diagram of an information reproduction system the device according to the invention and

F i g. 9 is a block diagram of another embodiment

Approximate form of an information playback system according to the invention.

The invention is intended below using the example of a; Embodiment for drawing a two-dimensional

5 6

sional curve, storage of your position data and Pxl0 ⁴ pps. It is now also assumed that reproduction of the same for the purpose of redrawing these pulses are sampled every 10 msec. It can be explained or regeneration of the curve. Then, at most, within one scan, according to Fig. 1 period for the purpose of transferring or converting or a sampling interval in each case 100 Pswandlung movement there d oak pin 5 Z these pulses are detected. In order to hold a group of binary device along the curve TJQ in pulse groups, the dial, so it is sufficient for moving the pin in - ^ - first direction exceeds F i g. 2 digit offset register 7 steps is set in the rotation of a with a rack 1 in (2 ⁷ = 128) and an additional step to provide meshing gear 2, while the moving those binary digits to hold the Vorgung in the Y direction in a rotation of the symbol of this group with the io.
Toothed rack 3 meshing gear 4 to- The timer pulses of a magnetic drum are converted. For the movement of the pen generally in the order of magnitude of 200 Kpps in the X and Y directions, the Füh- (5 jisec) are used, so that the time required for recording and shifting rails 6 and 5 on the rotary shaft of a ben on the order of each of gears 2 and 4 is a pulse generator 15 40 usec (5 nsec x 8). Attached to the Austor 7 described, as shown in FIG. 2 is shown, so that this pulse train only has at most the two-dimensional movement of the pen into a pulse (because the command input frequency for a pair of Px and Py pulse trains can be converted at a maximum speed of 1000 mm / sec. The pulse generator is 100 nsec), even if it is already directed that an incrementally 20 pulse arrives at the magnet drum while the next Px pulse series is being moved for each displacement of the pen by one dimension drawing. This has the consequence, unity of the distance in each case in the X or Y direction, that such pulse series is generated on one, for example as a relatively simple storage element per 0.1 mm. It should be noted that the impulses can be insured by. Even if a series of impulses with more than one impulse arrives, depending on whether it is a forward or a backward direction of the movement, such impulse series can still be derived. suitable auxiliary storage organ are stored, so that the pulse generator 7 (which in the drawing that the basic operation is not unfavorable benung only for pulses in the X direction, but not influenced.

for those of the Y-direction is shown) th pulses are a reversible binary counting position offset register and the reversible counter fed. That is, when timer impulses are cleared for the next scan, of a storage element, for example a magnetic It is of course possible to have a common one drum (not shown), the pulse generator 7 to circuit as a position offset register and reversed some of them will use a sensitive counting device. The auxiliary storage branches as output pulse series Px. namely in shutdown circuits in the reversible counting dependency be built in to the angular displacement Θ χ of the ro- circle.

tationsschaftes of the pulse generator, which directly with F i g. 3 shows the relationships between which gearwheel 2 is coupled, whereupon it is fed to the different binary counting device stored on the magnetic drum. If that's 40 formations; the magnetic drum rotates with this counter element (n - ¹ -1) has steps, the number can example with a speed of rotation of the counted pulses by a binary number with 20 msec per revolution (50 pps). One of the η digits or digits shown contains the timer pulses C with a. The one remaining stage is used to denote repetition frequency in the order of magnitude of around the positive or negative sign of the message 45 200 Kpps (5 nsec) and 4000 bits or message content. The content including units or pulse deflections. The impulses R with punctuation are registered in a position offset drawing the rotation reference point of the magnetic current register and in a storage track X on mel. and the impulses T are the initial impulses for a storage element written out or stored determination of the minimum sampling interval, which depends on the time required for one revolution by shifting the content through the timer 50 number, which is required at predetermined time intervals from the magnetic drum and the desired ones can be scanned, as will be described in greater detail below as the minimum scanning time. When the minimum will be scanned. That is, by a suitable time being 10 msec, selected sampling pulses A can be opened at equal intervals, two pulses t _x and f ₂ separated from each other, so that the contents of the position are insured. The B pulses represent the limit of the setting register for each timer pulse after the adjacent block, and in this is shifted to the right, the content of which is given up on the example of a block of 8 bits, including the A 'memory track. The magnetic current of the sign bit, so that a pulse block is in each case mel, can be used in this embodiment as a memory device for 8 timer pulses, but any suitable memory device can also be used to reduce the size of the magnetic drum, an 8-bit counter can be used). Let it be assumed that the maximum writing order is as follows: First, the deflection of the pen in the two directions is the numerical information AX ₁ and for gen, ie the X and Y directions, A Y ₁ des first data block, which in F i is 3. 1 with the 1000mm; the maximum speed is denoted by 65 characters φ, on which in Fig. 3 he-1000 mm see; In addition, a pulse is generated, each of the X and Y tracks of the magnetic drum for each displacement of 0.1 mm. In this written when the pulse f _t arrives. In this case, the frequency of the maximum pulse series would be after 10 msec when the pulse t _s arrives.

the second block φ is written. The third block φ is written when the first block pulse arrives after the pulse t 1. The fourth block @ is written when the first block pulse _{arrives after the pulse r 2} , etc.

In this way, the scanning and writing is carried out every 10 040Lisec (= 10 msec +5 nsec x 8) and in this way a total of 500 block information (4000/8) can be stored on each of the X and Y tracks.

This corresponds approximately to 50,000 (100 x 500) pulses of Px or Py pulse trains. In the example described, this corresponds to 2V2 reciprocal movements in both directions, the X and Y directions, since a forward or a backward stroke corresponds to 10,000 pulses. In general, the information blocks written on the magnetic drum will correspond to a number of 4000 / (n + 1) x 2 "pulses, where η indicates the number of steps in the reversible counter. It should be noted that the number of pulses increases considerably with an increase in the number of steps When a track is filled to the maximum extent, the excess information can be stored on another track in a manner similar to that described above, which means that the capacity of the magnetic drum can be used to its full extent can, in contrast to the type of storage device with a one-bit, one-pulse magnetic tape.

The invention has so far been described for the case of the minimum abiasing sequence. However, when the movement of the pen is slow. the data storage can be carried out in a manner similar to that described above, namely once during several magnetic drum revolutions by counting the R or Γ pulses. In either case, the writing process is perfectly regular, so that the sampling strobe pulses A are appropriately generated to drive the sampling gate circuit by a suitable combination of the counter circuits for counting the R, T and ZM pulses by one shown in FIG. 2 to control the gate control circuit shown. The reconstruction of the scanned data will then be described.

F i g. Figure 4 illustrates an MIT-type pulse distributor well known in the art for reconstructing sampled data, in this case for reproducing the movement of the stylus. This device is also known as a »linear interpolator« and consists of a frequency distributor, a binary counter, the two output gates and the ΊΑ "and .1 Y registers or memories used to control these output gates Information stored in the magnetic drum is read out of the first block in synchronization with the clock pulses for the X and Y tracks and then transferred to the Λ X and lY registers. Since the timer pulses stored on the drum have a relatively higher frequency, they must be divided into a suitable frequency by the frequency distributor Kpps divided. The frequency division can be effected by a g Appropriate setting of the counter disc, it is also possible to store the appropriate timer pulses on one of the tracks of the magnetic drum in dependence on the timer pulses for writing. The output of the Tx and Py pulse trains corresponds to the vectors which contain the components of the numerical values AX ₁ and .JY _{1 of} the first block, as is well known. if

ίο the Tx and Fv pulse series are given up on a suitable mechanism, the original movement or that shown in FIG. 1 can be reproduced approximately with short linear segments Op ₁ , J) ₁ J). ,,. . . As shown in FIG. This process is similar to a normal numerically controlled design method with linear segment approximations. The scanning speed and the number of steps of the reversible counter in FIG. 2 can be set up taking into account the expected speed of the initial movement (hereinafter the initial curve or the like as shown in FIG. 1) and the desired accuracy.

When Px and Py are derived from the first data block from the respective output ports, the final transmit pulses (referred to as "end carry" in FIG. 4) are derived from the binary counter so that the values for AX.- and .1 Yo of the second block can be given to the AX and .1 YR "registers, if the final transmission pulses are overloaded. The speed of the movement of a reproducing mechanism can be changed if desired, independently of the speed of the initial movement, by changing the constant of the frequency distributor.

F i g. 6 is a block diagram of a circuit for generating sampling strobe pulses / 1 by the output gate control circuit.

The sampling pulses 7 stored on the storage element are interrogated and used by the output gate control circuit on counter 5 and on counter 1 (see Fig. 6 for “starting pulse” and “counter 1”). If the counter 1 is the from the presetted pulse counts, the simultaneity circuit, i.e. the so-called coincidence gate circuit 1 is opened, so that the pulses on the counter 7 can be given. The counter 7 has the same counter capacity (in this example: 2).

with which the number of timer pulses Γ are stored on the drum and transmits one each Pulse on counter 2 when two pulses are counted in coincidence circuit 1.

The timer pulses C read from the memory element are applied to the counter 4, which operates as a word counter, so that the number of bits in a word is counted. That is, in the embodiment described, whenever 8 pulses are counted, a block pulse B is generated and sent to the counter 3. De: Counter 3 counts the block pulses, and whenever the content of counter 3 becomes the same as that of counter 2, ie coincides or coincides, the coincidence counter 2 '.

a coincidence pulse is generated. The Kapazi did the counters 5 and 6 equal to that of the number of pulses stored on the drum T. Si count the pulses from the Koinzidenztorschaltkrei

9 10

11 and the Γ pulses, and from the coincidence gate circuit it happens in practice that the circuit 33 generates the coincidence pulse. Maximum input frequency as input information when the content of the counter S is the same as that of the counter 6. The counters 5 and 6 are used as exceeded during a certain sub-step of the circuits for the selection in each case by the 5 actuation, while in the remaining areas only Γ-pulses on the drum (in a relatively slow input information of the described embodiment it is supplied so that an overload of the reverum of the two separate counters divided by the pulses I ₁ and t ₂ can be caused, although in areas), while the counters 2 and 3 have sufficient memory storage capacity for selection. the commands for the words in these areas die- io The effect of writing down in a stage or nen. Namely, the logical product of the outputs from this one area is limited due to the count-in corresponds to the sampling sampling pulse A, the output command pulse frequency (corresponding to the velocity fed to the output gate control circuit) or the capacity to be reversed. When the gate is open, the sensitive meter receives. It may therefore be useful to the required Stellenversetzungs- such to cause flooding of the reversible counter, the clock pulse _l5 letter depending on the terms of the impulse (shift pulses or "shift pulses"), the contents of the reversible counter to Speiche- undaß dependent from the normal sampling timing, so that approximately organ is shifted. In this way the required information is not left out and recording is effected. although not even if the reversible counter

When the scanning speed for the rotary 20 is overloaded. Therefore, an overload speed of the drum is long enough or detection circuitry is provided to determine if the frequency of the input pulse train is sufficiently low whether the reversible counter with the largest capacity is low, the speed of rotation which is completely full, so that the output gate control drum can be selected that it corresponds to the minimizing circuit regardless of the normal scanning speed. In this case, 35 is sampling by the overload pulse from the R = T = I pulse per revolution, so that the in discriminator circuit is controlled, whereby the F i g. 6 steps enclosed by a dashed line writing on the storage member can be omitted independently, whereby the circuit so, from the normal sampling timing, as described above as in FIG. 7 can be simplified. ben, is carried out.

It should be noted that if the counting capacity should now

counter 1 is increased, the counting is described. In the case of the fundamental

speed than any arbitrary integral circuit shown in Fig. 7, the so-called

Multiple times the number of revolutions of the drum through what is known as continuous real-time path control

can be chosen. causes normal scanning. At this switching

The circuitry described above for circuitry is the timing circuit connected to storage the input information on the food. From the outside time lock sign The security device can also be used for reproduction. The time lock gate is locked so that the car turns will. matic normal scanning is stopped and the

F i g. 8 is a block diagram for reading the in gate circuit remains closed as long as none of the the storage organ under the same conditions 40 overload causing input information The information stored for the writing arrives, which the writing in the memory. When the organ stops the result of the impulse giving. For example, if an ob performer Final transmission pulses from the project is moved in order to avoid the single pulse distributor are derived (see. Fig. 4), are the vibrational state at the end position, this object previously contained in the shift register data in parallel 45 up to an appropriately selected point in the offset to the register of the pulse distributor. The proximity of the end point with the maximum speed transmission pulse (»End carry«) will be moved, and one will then be contemporaneous subject to detailed path control on diesel by the output control circuit and on a counter for command selection, the last distance (between the selected point consists of counters 2, 3, 4, 5, 6 and 7, which means 50 and the actual closing point). In this case the output gate circuit is controlled so that the can control the movement of the object except for the next information on the shift register shifts the path along which the object of the continuous will. borrowed path control is subject to the nor

The above-described mode of operation will again be effected, see the time-lock condition

fetches so that the data are successively in the pulses 55 that the writing down automatically in the time

being transformed. If the rotation-locked state is only due to the overflow impulses

speed of the drum with the minimum of the reversible counter, the capacity of which is limited

sampling time coinciding, that is to say is predetermined to coincide, can be effected, whereby there

power is (Γ pulse = R pulse = 1 pulse per writing the information on the storage

Revolution can be the in F i g. 8 is carried out with an organ with increased frugality,

The steps surrounded by dashed lines, as in the case of the in FIG. 9 is the circuit shown

Case of the block diagram in FIG. 6 was the case, the gate control circuit was set up in such a way that it was controlled by di

be omitted. manual scanning instruction during shutdown

F i g. 9 is one from the one shown in FIG. 7 (dashed line of the normal sampling function through the time lock

Lines) shown basic circuit control gate for any desired timing

standing block diagram and the can be run through, so that the point route control add

line marked additional switching borrowed to execute the continuous route control

circle. In the case of the FIG. 6 is the basic bar shown. In this way it is possible to do the important

Points for approaching the original initial movement with the linear segments are correct without limiting the time, which increases the accuracy of the position information for the points, which are particularly important is improved. Since, as described above, no time limit is required is, the write commands to the memory can be used in sequence, one after another, according to memory, so that the

Effectiveness in the utilization of the storage organ with its limited capacity further increased will.

Even in the case of the manual scanning instructions, a necessary recording can be made among the Overflow conditions take place during the overflow of the reversible meter with the greatest capacity, without inconvenience for the positioning.

For this purpose 3 sheets of drawings

♦ P

Claims (5)

Patent claims: 1. Device for controlling multidimensional Movement sequences with an organ for scanning impulse series of input information, a reversible counter for coding the scanned input information in binary digits and a magnetic drum or disk as a storage organ for the Binary digits as blocks of data, each indicating the forward or backward direction of movement representing binary digits, characterized in that they in combination contains the following components: a) a counter (1) for recording start pulses (T) read from the magnetic drum or magnetic disk with a preselector for preset pulses and a coincidence gate circuit (11), b) a counter (7) with one of the number stored on the magnetic drum or magnetic disc Counting capacity corresponding to start pulses, c) further counters (2, 3) for the address selection of the words located on the areas divided by the start pulses as well as a coincidence gate circuit (22) and a counter (4) for counting the number of pulses of a word identical to a block pulse (B) and for the Recording of the timer pulses read from the magnetic drum or magnetic disk (C), d) further counters (5, 6) for the selection of areas separated by the start pulses (T) , each of which has a capacity corresponding to the number of start pulses, with a coincidence gate circuit (33), e) an AND gate circuit with a scanning gate circuit for generating sampling pulses, in which the coincidence pulses originating from the mentioned coincidence circuit (11) via said scanning gate circuit and the counter (7) mentioned under b) to the counter (2) and mentioned under c) the counter (5) mentioned under d) are fed in, with the logical results of the two coincidence pulses from the condensing gate circuit (22) mentioned under c) and the coincidence gate circuit (33) mentioned under d) as sampling pulses (A) via the said AND gate circuit and inputting said sampling gate circuit, whereby the gate in this sampling gate circuit is opened and shift pulses are produced by the timing pulses from the magnetic drum or magnetic disc, so that the contents of the reversible counter are shifted to and stored on the magnetic drum or magnetic disc. 2. Apparatus according to claim 2, characterized in that the in claim 1 under b) ge named counter (7) and the counter (5, 6) named under d) and the coincidence gate circuit named under d) (33) and the scanning gate circuit are eliminated by reducing the speed of rotation the magnetic drum or magnetic disk is set up according to a minimum scanning speed 3. Device according to one of claims 1 and 2, characterized in that between the reversible counter and an overflow discriminator circuit added to the sampling gate circuit is such that the sampling gate circuit is only affected by overflow pulses from the discriminator circuit is controlled independently of normal scanning, thereby achieving that a Storage on the magnetic drum or magnetic disc also takes place when the maximum capacity of the reversible counter is exceeded. 4. Apparatus according to claim 3, characterized in that between the former Coincidence gate circuit (11) and the sampling gate circuit a timing gate circuit is inserted, which by a time lock sign, the automatic normal scanning stops and only then releases again if there is no input information causing the overload arrives and the overflow of the largest capacity reversible meter caused while the sample gate circuit through with an arbitrary timing Manual control generated scanning pulses is controlled, so that a punctual path control is effected by correctly determining important points without time limit and the Accuracy in the positioning of significant points is improved. 5. Apparatus according to claim 4, characterized in that the recording on the magnetic drum or magnetic disc during the time-locked locking state without manual operation only by overflow pulses from the reversible meter, whose capacity is limited is predetermined, is automatically effected to make this recording economical.