Fischer, G.G.FischerKaifel, A.A.KaifelSchmutz, W.W.Schmutz2022-03-082022-03-081988https://publica.fraunhofer.de/handle/publica/302028The description refers to a digital control unit for a direct current motor of a tool for an industrial robot, such as an O-ring jointing device, a screwing device or similar, comprising a tacho-generator which detects the speed of rotation of the motor. The digital control unit according to the invention is characterized by a sensor interface which is applied with an output signal of the tacho-generator and the signals of other sensors such as force sensors, sensors for the gripper position, flange forces or similar, and the sensor interface which is connected to a microprocessor control unit for the motor, whose output signal is applied to the servo-amplifier for motor after a digital/analogue conversion.de608670patent1987-3710647