Electricity: motive power systems – Positional servo systems – Adaptive or optimizing systems including 'bang-bang' servos
Patent
1998-05-13
2000-02-01
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
Adaptive or optimizing systems including 'bang-bang' servos
318626, 318685, 318696, G05B 1940
Patent
active
060207051
DESCRIPTION:
BRIEF SUMMARY
This application is a National Stage under 35 U.S.C. 371 of International Application PCT/DE96/01093 filed Jun. 17, 1996.
BACKGROUND OF THE INVENTION
The invention concerns a machine for handling disks, provided with recorded information or which can be recorded on, in particular for the handling of compact disks known by the abbreviation CD. The invention also concerns processes for operating such a device.
The invention in particular concerns a disk handling machine with one disk in superimposed receiving compartments, the disk magazines and connected to a first electric drive motor, for the selective transport of an individual disk holder with disk between optional receiving compartments, a receiving compartment and at least one disk drive for reading out or recording information on the disk, or between a receiving compartment or a disk drive and a drawer for the input and removal of disks, of two displaceable pull-out means, connected to a second electric drive motor, for removing and inserting respectively one disk holder with disk into or from an optional receiving compartment, movement sequences for the two transfer devices.
A disk handling machine with these features is known and is described, for example, in the WO-A-93/11535.
It is the object of the present invention to take measures that allow a reliable and exact positioning of the drive motors, used here to move the transfer devices.
SUMMARY OF THE INVENTION
The above object is achieved according to the present invention by a machine which comprises a device for handling disks configured as information carriers, in particular CD's, with opposite-arranged disk magazines that hold disk holders for respectively one disk in superimposed receiving compartments; a first transfer device in the form of a transport device that is arranged between the disk magazines and connected to a first electric drive motor for the optional transport of an individual disk holder with disk between optional receiving compartments, between a receiving compartment and at least one disk drive for reading out or recording information on the disk, or between a receiving compartment or a disk drive and a drawer for inserting and removing disks; a second transfer device arranged on the first transfer device in the form of two movable pull-out means, connected to a second electric drive motor, for removing and inserting respectively one disk holder with disk into or from an optional receiving compartment; a computer-supported control unit for controlling and monitoring the movement sequences of the two transfer devices. Each drive motor for this machine is a step motor with reversible rotational direction. Each drive motor is a step motor with reversible rotational direction. Each step motor is coordinated with an incremental signal generator for generating counting pulses corresponding to the motor movement and a device for counting these impulses. At least one stop position for its movement range is fixed for each transfer device, and at least one reference point sensor is provided, which monitors a reference position within the movement range and responds if the respective transfer device moves across this position. The control unit for each transfer device can be switched to a first operating state for calibration, where it switches off the current to the step motor to allow a manually guided movement of the respective transfer device while counting the counting pulses supplied by the respective incremental signal generator and in which it detects and stores the count that has run up when the reference-point sensor responds and the end position is reached. The control unit can furthermore be switched to a second operating state for calibration, in which it drives the corresponding step motor for moving the respective transfer device and counts the thereby generated counting pulses of the associated incremental signal generator and in which it detects and stores the count that has run up when the reference-point sensor responds and the end position is reached.
Thanks
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Kunitz Norman N.
NSM Aktiengesellschaft
Ro Bentsu
Spencer George H.
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