Totalizer Apparatus for Flow Rate Measurement Devices

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1. Field of the Invention

This invention relates to totalizer units for belt scales, flowmeters and other devices for measuring the bulk, mass or weight of material flowing or being conveyed past a fixed point at which the instantaneous loading on a suitable transducer or transducers is continuously sensed.

2. Review of the Art

Many such arrangements are already known. In general, a transducer or group of transducers is arranged to generate an electrical signal proportional to the instantaneous loading applied to an element which reacts to the flow of material, and this signal is multiplied by the speed of flow and integrated in order to produce an output corresponding to the quantity of material which has passed the element. In flowmeters, the apparatus may be arranged so that the speed of flow is constant, while in belt scales the speed of the belt is measured by a suitable sensor such as a pulse generating tachometer.

Processing of the transducer and tachometer signals is rendered more complex by the necessity of providing for zeroing of the transducer output. The zero load output of the transducer may shift, for example, due to changes in transducer characteristics because of material adhering to the conveyor belt in a belt scale or the sensor plate in a flowmeter, because of wear of the belt in a belt scale, or because of temperature or humidity variations. Any such zeroing in a belt scale must allow for the tare of the belt, which varies not only as the belt wears, but from point to point on the belt itself. The belt will usually be heavier in the immediate vicinity of a splice in the belt as well as having other irregularities. For this reason, zeroing of control and display units for belt scales is usually performed by monitoring output over one or more full revolutions of the belt through the system so as to find a setting which will produce an overall integrated output which is zero.

In apparatus which requires frequent zeroing, it is desirable to have this occur automatically without operator intervention. While various manufacturers have developed techniques for carrying out such zeroing automatically, automation of this feature presents problems which have prevented its widespread adoption.

Typically autozeroing is achieved by carrying out a zeroing cycle during periods when there is no flow through the apparatus. A problem with belt scales and to a lesser extent with flowmeters is that it is difficult to distinguish between a low rate of flow and no flow. A belt scale operating in conjunction with a belt having heavy and light sections will produce a varying transducer output even under no flow conditions.

Belt scale systems are also usually set up so that outputs corresponding to very low rates of flow, below a certain threshold, are disregarded. Any such threshold setting must be disabled prior to zeroing, since otherwise it will act so as to shift the zero setting. An autozeroing operation must also be scheduled so as not to interfere with normal operation of the apparatus when a load is present. Unfortunately, it is not possible for the apparatus to predict when a gap in the flow of material will occur which is long enough for the autozeroing function to be completed. If flow recommences while the zeroing function is in progress, both the function itself will be aborted, and material will pass through the system without being weighed. If a substantial lump of material temporarily sticks on a belt or flowmeter element, it may produce a temporary false zero which will cease to be valid as soon as the lump shifts.

An object of the present invention is to provide a control and display unit for belt scales and other devices for measuring rates of flow, which addresses the above problems.

According to the invention, there is provided apparatus for integrating a flow proportional signal, from a flow rate measuring device subject to zero drift, while the flow proportional signal, after application of a zero correction determined by a zeroing operation, exceeds a first predetermined threshold, the apparatus comprising:

means applying a zero correction to the flow proportional signal;

a first totalizer for accumulating the time integral of the zero corrected flow proportional signal while the threshold is exceeded; and

means operative to redetermine a zero correction during a zeroing operation;

wherein said zero correction redetermining means further comprises; means disabling the first totalizer during the zeroing operation;

a second totalizer operative to accumulate the time integral of the zero corrected flow proportional signal during the zeroing operation;

threshold means to reject the redetermined zero correction determined during a zeroing operation if it deviates excessively from a reference; and

means responsive to rejection of the redetermined zero correction by the threshold means to add the integral accumulated in the second totalizer during the zeroing operation to the first totalizer. The use of a second totalizer means that no totalizer error should occur if flow restarts during a zeroing operation, since the result of the zeroing operation will be rejected and the count of the second totalizer will compensate for counts lost by the first totalizer.

The apparatus preferably includes a third totalizer operative to accumulate a time integral of the flow proportional signal, timer means associated with the third totalizer, means to reset the third totalizer and the timer means on attainment of one of a predetermined total in the third totalizer and a predetermined elapsed interval timed by the timer, and means responsive to the predetermined time count being attained while the total is below a predetermined threshold to initiate the zeroing operation. This will assure that a zeroing operation is only initiated when there has been no flow for a sufficient interval that it is likely that the operation can be completed without flow recommencing.

Preferably also the apparatus comprises a register operative during a zeroing operation to accumulate samples of the flow proportional signal prior to zero correction, a second register to accumulate a count of the samples, further timer means to terminate the zeroing operation after a predetermined lapsed interval, and means to calculate a zero correction from the average value of the samples.

The flow rate measuring device is typically a belt conveyor weigh scale, but the apparatus may also be used with other types of flowmeters. For a belt scale, the time base of the timers is based on an integral number of belt revolutions so as to cancel the effect of light and heavy sections of the belt.

These and further features of the invention are described further with reference to the accompanying drawings.

In the drawings:

FIG. 1 is a schematic block diagram of apparatus in accordance with the invention, shown applied to a belt scale;

FIG. 2 is a flow diagram of a main program loop of the micro-controller shown in FIG. 1;

FIGS. 3a and 3b are flow diagrams of a zeroing routine;

FIG. 4 is a flow diagram of an autozeroing initiation routine;

FIG. 5 is a graph illustrating certain aspects of the autozeroing routine;

FIG. 6 is a flow diagram of a belt speed measuring routine; and

FIG. 7 is a flow diagram of a weight measuring routine.

Referring to the drawings, FIG. 1 shows the general layout of apparatus according to the invention as applied to a belt scale. A conveyor 2 has a belt 4 which receives material at a point 6 and discharges it at a point 8. Between points 6 and 8 the belt passes across a belt scale unit 10 which contains one or more load cells which provide a signal continuously proportional to the load on a portion of the belt supported by means coupled to the load cells. A suitable form of belt scale unit is described in U.S. Pat. No. 4,682,664 issued July 28, 1987, to Charles W. Kemp, although use of the present invention does not require use of any particular belt scale unit provided that is capable of providing an output signal proportional to load. While the apparatus will be described as applied to a belt scale, it may also be employed with a flowmeter, in which case various functions associated with belt speed are omitted or substituted as discussed further below.

The signal from the unit 10 is applied through an interface 12 and a voltage-to-frequency converter 14 to a micro-controller 16, which in the example described was a 68HC11 micro-controller from Motorola. While other microcontrollers or microprocessors with suitable peripherals can be utilized, it should be understood that at least those portions of the exemplary program code included as an appendix (not re-printed; see application file) to this specification which are written in assembly language are specific to the 68HC11 unit although such portions could of course be translated into assembly language for other units of comparable capabilities. A pulse signal from a tachometer 18 driven by the belt is also applied through an interface 20 to the micro-controller 16.

The microcontroller is provided with memory comprising read only memory (ROM) 22 utilized to store an operating program and certain fixed data, nonvolatile memory (EEPROM) 24 utilized to retain data when the apparatus is powered down, particularly operator selectable parameters and cumulative data, and random access memory (RAM) 26 used to provide working memory and temporary storage of data during normal operation of the apparatus. The microcontroller receives further inputs from an operator through a keyboard 28 connected through an interface 30, and push buttons 32 connected through an interface 34. It typically provides outputs to an alphanumeric display 36 through a suitable interface 38, an analog rate meter 40 through a digital-to-analog converter 42, and a remote totalizer 44 through a pulsing device 46. The microcontroller is provided with a real time clock 48 generating real time interrupts at fixed intervals. According to the microcontroller used, this real time clock may be internally implemented in the microcontroller unit.

In operation, the microcontroller on power-up enters a main program. This first calls a routine INITIALIZE which recovers data stored in EEPROM 24, so as to restore the status of the apparatus to that existing immediately prior to power-down by transferring stored parameters to predetermined locations in RAM 26, initializing certain registers, and also setting both an internally implemented totalizer, whose count is normally displayed by display 36, and the totalizer 44 to an accumulated count reached prior to power-down. It also initializes the display 36. The program then enters an executive control program loop (ECPL) as shown in FIG. 2, which program loop in turn executes in turn a number of subprograms. The subprograms are designed so that their processing does not require more than a fairly minimal time even under worst-case conditions, and so that the entire ECPL can be execute repeatedly at a reasonable rate, typically about eight times per second. While each subprogram will be entered upon each execution of the loop, what is done upon each such entry depends on the setting of operational parameters the settings of flags by previous operations, and operator input using the keyboard or push buttons. As will be seen, subprograms may carry out quite different tasks depending upon these settings.

Certain functions are not conveniently handled within the ECPL; thus, inputs from the belt scale unit 10 and tachometer 18 are handled by interrupt service routines, as is a power-down sequence which stores into the EEPROM 24 the data which is recalled during the INITIALIZE routine. Input from the load cells of the belt scale unit 10 is handled by interrupt service routines ISR14 and ISR4, illustrated by the flow diagram of FIG. 7. The analog voltage input generated by the cells (step 700) is first applied to the voltage to frequency converter 14 which generates (step 701) independently of the controller 16, a series of pulses at a repetition rate proportional to the voltage applied. These pulses are counted (step 702) in a pulse accumulator register which is incremented by each pulse. Overflow of the register generates an interrupt (step 703) which triggers an interrupt service routine ISR4, which increments an overflow counter (step 704) and returns. Real time interrupts generated (step 705) by real time clock 48 trigger an interrupt service routine ISR14 which combines and stores (step 708), as a variable ADCOUNT, the pulse accumulator count and the overflow count from the accumulator count and overflow registers, resets these registers and returns from the interrupt. In order to provide sufficient resolution of the frequency output of the voltage to frequency converter, and according to the rate of generation of real time interrupts by the real time clock 48, the real time interrupts may be counted in a step 706, and only every fourth (or some other appropriate number) interrupt (step 707) acts to store the count ADCOUNT and reset the registers.

Each pulse generated (step 600) by the tachometer 18 initiates an interrupt service routine ISR15 (see FIG. 6) which first determines at step 601 whether a new speed determination cycle is commencing, as indicated by a speed register SPDCNT being set to zero. If it is, the count of a free running counter clocked by high frequency clock pulses (step 606) is transferred to a register COUNT1 (step 602) and the speed register is reset (step 603). Whether or not the speed counter is set to zero, the count from the free running counter is also transferred to a register COUNTM (step 604) and the speed register SPDCNT is incremented (step 605). The free running counter includes a primary counter TCNT, and an overflow counter MCNT. Overflow (step 607) of the counter TCNT initiates an interrupt service routine ISR5 which increments overflow counter MCNT (step 608) and then returns.

The subprograms called by the executive control program loop (ECPL) shown in FIG. 2 will now be considered. The subprogram 200, entitled TOTAL, calculates the rate of material flow along the belt (or through the flowmeter as the case may be), primarily from the contents of ADCOUNT register, and also increments the local totalizer register implemented by the microcontroller 16, and the remote totalizer 44. The subprogram also increments a supplementary autozeroing totalizer register AZ as discussed further below. The calculated rates used to increment the totalizer registers are adjusted by a zero correction corresponding to an unloaded or no flow condition of the belt or flowmeter, and damping is applied to prevent excessive short term fluctuation of the calculated rate. According to whether the unit is applied to a belt scale or a flowmeter, a mode test 201 either executes or bypasses a program 202 (SPEED) which calculates the speed of the belt of a belt scale from the counts stored in registers COUNT1, COUNTM and SPDCNT by subtracting the content of register COUNT1 from that of COUNTM, dividing the result by SPDCNT, and scaling and damping the result appropriately.

The next subprogram 203 to be called, entitle KEY DATA TO INPUT BUFFER, handles any key value stored as input from the keyboard and exits if no key value has been stored. If a key value has been stored it is transferred to an input buffer, and an appropriate action initiated according to the identity and the existing content of the buffer. Where the content of buffer constitutes a complete command to the system the command is executed if execution is possible, if necessary in multiple stages on successive executions of the ECPL, within the time constraints imposed by the necessity of completing the loop fast enough to allow for a desired repetition rate.

An ANALOG OUTPUT subprogram 204 is called next, which checks whether analog output is required, and performs a step in an analog output procedure if such output is required.

The next subprogram 205 to be entered is a ZERO program, which carries out certain functions involved in a zeroing operation and is described in more detail below. This zeroing operation may be either a zeroing operation which is manually initiated, in which case a flag will be set to initiate the zeroing operation, or an autozeroing operation, in which case the subprogram will either reset or increment a timing register and check whether the register count has reached a calculated level such that an autozeroing operation is due, so that on the following execution of subprogram 205, the zeroing operation can be initiated.

Subprogram 206, SPAN, carries out a conventional span operation if the keyboard action program has responded to keyboard input to set flags indicating that a span operation is required.

Subprogram 207, DYNAMIC DISPLAY, provides functions necessary for updating and maintaining the display 36, and subprogram 208 reads the push buttons 32. These buttons in general provide inputs equivalent to those provided by the keyboard, and equivalent inputs are handled similarly to those from the keyboard, handled by the keyboard input subprogram 210. Subprogram 209, METER, enables the output of the load cells or other sensors to be monitored directly, using the analog to digital converter 42 controlled by microcontroller 16.

Finally, a KEYBOARD INPUT subprogram 210 provides a keyboard input routine which senses whether a key on the keyboard 28 has been depressed and stores the value of any depressed key for subsequent processing by the keyboard action program.

The ECPL loop just described is continuously repeated during normal operation of the unit, the subprograms being constructed as already mentioned so that the execution time of the loop remains fairly constant (typically about 8 times a second). Some tasks carried out by certain of the subprograms such as a zeroing or spanning operation which requires continuous monitoring of the operation of the belt scale or flowmeter over a substantial period must be carried out in stages over many repetitions of the loop. Monitoring of the keyboard, processing normal data input from the scale or flowmeter, display of this data, and response to the keyboard commends requiring display or alteration of operating parameters are all handled during the normal execution of the loop, although again some operations will be handled in stages over multiple repetitions of the loop, such as digital-to-analog conversion of data, and the capture and subsequent processing of multiple character command strings from the keyboard. Where commands are generated automatically during operation of the machine, they can be conveniently handled by inserting them into a keyboard buffer as if they had been entered from the keyboard 28 or push buttons 32.

Zeroing operations may be of several different types, initiated in different ways. When the apparatus is first powered up, an initial zeroing operation is required. A zeroing operation may be initiated manually either from the keyboard 28 or by a designated one of the push buttons 32. Finally, a zeroing operation may be initiated automatically if certain conditions are fulfilled.

An initial zeroing operation is manually initiated after the apparatus is powered up for the first time, or at any time provided that the operator first sets an appropriate parameter requiring either complete reinitialization of the unit or zero reinitialization only. Detection of any of these conditions results in a flag IZFLG being set. The flag setting of this flag disables testing for whether the zero setting determined deviates excessively from that already existing. Otherwise the process is as described below, with reference to FIGS. 3a and 3b.

If a zeroing operation is initiated manually by keying a `Z` at the keyboard, the KEYBOARD INPUT program 210 reads the keyboard and stores a `Z` in a variable KEY. If a zeroing operation is initiated manually by push button, the READ PUSH BUTTONS program does the same thing provided that a zeroing operation is not already in progress. A flag ZPBTFLG indicating that a push button zeroing operation has been requested is also set in this case. The keyboard action program 203 then reacts to the `Z` in KEY by clearing various flags and registers and setting a flag ZEROFLG (step 301) to indicate that a zeroing operation has been requested. If the flag ZPBFLG is found set (step 302), it also stores an `E` as the variable KEY in place of the `Z` (step 303). Otherwise, the ECPL continues until the KEYBOARD INPUT program determines (step 304) that the enter key has been pressed to initiate the zeroing operation in which case it stores an `E` in the variable KEY.

Upon the next execution of the KEYBOARD ACTION program, the presence of the `E` in variable KEY is detected, and after determining that it does not represent the end of a parameter entry, an EXECUTE subprogram is called, the operations carried out by this program depending on the flag settings which it finds. The EXECUTE subprogram first calls a routine RES-CTRS (step 305) which resets various registers to suit a zeroing or spanning operation including a register RUNTIME, calculates from available data the time for one belt revolution, which it places in a register REVTIME, and then tests the flag ZEROFLG. If found set, it is reset, and a flag ZPFLG is set to indicate that a zeroing operation is under way at which point control is returned to the ECPL.

When the ZERO program is entered, it detects that the zero in progress flag ZPFLG is set, and sets (step 306) a zero wait flag ZWFLG, and a calibration flag CALFLG, which cause the TOTAL program to increment RUNTIME, and weight and point count registers for each ECPL during the zeroing operation.

In a following pass through the ECPL, the `E` in a variable KEY is again detected, but the reset condition of flag ZEROFLG results in no action being taken, while the set condition of the flag ZPFLG results in a timer implemented by the zero program 205 testing (step 307) whether the value in register RUNTIME equals or exceeds that in a register REVTIME, i.e. whether the zeroing operation has been in progress for a full revolution of the belt. The RUNTIME register is updated (step 308) during each execution of the TOTAL program 200 according to the number of real time interrupts which have occurred during the ECPL. The total program also notes that the CALFLG is set, and updates a temporary totalizer register TOTCAL in place of the regular totalizer register (step 317). The program continues to loop through the ECPL until such a time as the content of the RUNTIME register equals or exceeds that of the REVTIME register. At this point, the zero program calculates (step 309) a temporary zero count ZEROCTX from the WEIGHT.sub.-- CT and POINT.sub.-- CT data accumulated by the TOTAL program while the zeroing operation was in progress. The zero in progress and zero wait flags ZPFLG and ZWFLG are reset, and a zero deviation flag ZDEVFLG is set before execution returns to the ECPL.

During the following execution of the ECPL loop, the keyboard action program again detects the `E` entry in register `KEY`, resulting in calling of the `EXECUTE` subprogram which detects the set condition of the ZDEVFLG and sets the flag ZEROFLG. If the initial zero flag IZFLG was set (step 310), the temporary zero count accumulated during the zeroing operation is adopted (step 311) and stored both as an initial zero count EOZERO and as an existing zero count EZEROCNT, and the ZDEVFLG, ISFLG and ZEROFLG flags are reset. If the initial zero flag is not set, then the difference between the temporary zero count ZEROCTX and EOZERO is expressed (step 312) as a percentage of EOZERO. This percentage, representing the percentage deviation ZDEV of the zero from its initial value, is then compared (step 313) with a threshold, typically 12%, to determine whether the result of the zeroing operation should be rejected as erroneous since it represents an excessive deviation, probably due to material passing on the belt during the zeroing operation. In this case, the content of the calibration totalizer TOTCAL is added to the regular totalizer (step 314), and the existing zero setting is retained (step 315). If the deviation is less than 12%, the temporary zero count is stored (step 316) as the actual zero count EZEROCNT, and the ZDEVFLG and ZEROFLG flags are reset, thus terminating the zeroing operation.

Prior to initiating an autozeroing operation, it is necessary for the system to determine that the conditions are suitable, i.e. that the belt is moving normally but there is no material flow, and that these conditions have existed long enough that they are likely to continue during execution of a zeroing operation. Additionally, provision must be made to abort the zeroing operation if material flow should commence while it is in progress, and it is desirable to avoid adoption of any zero count obtained which shows an unusually large deviation from the initial value.

Whenever any operating parameter of the apparatus is changed, or when an autozeroing operation is completed, a flag ZFLG is cleared. This causes the ZERO program 205 to enter a routine (see FIG. 4) which first calculates a value AZCNT0 which represents the number of cycles through the ECPL for which suitable autozeroing conditions must persist before an autozeroing operation is initiated. It should be noted that while for convenience the flow diagram of FIG. 3 shows various steps as a continuous routine, the steps are in fact carried out by operations in both the ZERO and TOTAL subprograms over many executions of the EPCL.

A calculation (step 401) is made of the number ax of ECPL loops required for the totalizer to be incremented by a single count when the belt is carrying a very small portion, typically 1%, of its rated load rate. Thus, if the apparatus executes the ECPL n times/second, and TOTC represents the weight of material resulting in one totalizer count, then

In order to allow for belt splices and irregularities, the belt should be monitored over a period which represents an exact number of belt revolutions, so the number ax of cycles through the ECPL occurring during one complete belt revolution, previously calculated (step 400) as

where BELTL is the length of the belt, and SPEED-C is the current speed of the belt. A comparison (402) is then made between bx and ax, and if bx is less than ax, bx is added to itself (step 403), and the comparison repeated until bx is no longer less than ax at which point bx is stored as AZCNT0 (step 404).

During this procedure, the flag ZFLG is set (step 411) so that the above calculations are not repeated unnecessarily (see step 405).

When the TOTAL program 200 is executed upon each pass through the ECPL, it not only performs calculations to determine whether alteration is required to the main and remote totalizer readings, but also maintains a further totalizer register AZ. In order to avoid fluctuations due to irregularities and splices in the belt, the total weight count accumulated during an ECPL is divided by the number of real time interrupts occurring since the last execution of the TOTAL program to provide an average count ADCNT2 per real time interrupt, this count being adjusted by the zero count ZEROCNT to allow for the existing zero setting and provide an adjusted count CCC. The adjusted count is then multiplied by the belt speed SPEED.sub.-- C determined by the speed program and an appropriate constant KO2 to obtain a rate figure RATE.

For normal totalization purposes, positive rates below a certain dropout level, corresponding to a small percentage of rated flow, are regarded as corresponding to an empty belt and are disregarded. The rate RATE is thus compared with this dropout level to provide a rate RATE.sub.-- C which is equal to RATE except that it is set to zero in the event that it is less than the dropout level. The rate RATE.sub.-- C is then successively deducted from a variable SUM for a number of times equal to the number of timer interrupts during the last ECPL. Each time SUM reaches zero, it is incremented by TOTC, a parameter equal to the totalizer increment, and a totalizer count is incremented by 1. In the event of a negative rate persisting long enough for SUM to reach twice TOTC, then the totalizer count is decremented by 1 and SUM is decremented by TOTC.

Since application of such a dropout correction prevents proper operation of the autozero operation, as discussed further below, the separate totalizer register AZ is also maintained, which receives the uncorrected RATE data, RATE being repeatedly added to AZ for each real time interrupt during the preceding ECPL. If the absolute value of the content of AZ, whether positive or negative, is found to exceed (step 406) a value AZMAX, calculated as the equivalent of a predefined number, typically 2, of totalizer counts by which the totalizer may vary from its starting figure, it is assumed that conditions are unsuitable for an autozeroing operation, and a register AZCNT, discussed further below, is reset to zero (step 407). FIG. 5 illustrates how AZ may vary during a belt revolution relative to AZMAX.

Upon each pass through the ECPL, the zero program 205, having established that the apparatus is running normally and that the belt speed is at least one tenth (typically) of its maximum, increments (step 408) the register AZCNT and compares it with AZCNT0 (step 409). Each time AZ exceeds the absolute value of AZMAX, the totalizer program 200 will reset AZCNT (step 407) and the count will recommence. When AZCNT exceeds AZCNT0 (step 409), the autozero sequence is initiated (step 410) by setting variable KEY to `Z`, inserting a `Z` and setting an autozero flag AZFLG and the zero push button flag ZPBFLG. Thereafter, operation is similar to a zeroing operation initiated by the zero push button and already described above, apart from differences signalled by testing the autozero flag (step 318). The most significant of these differences resides in the assessment of the zero deviation AA obtained after the zero deviation flag ZDEVFLG is set. If the deviation AA is over 12% (for example), the total in TOTAL recorded during the operation is added to the totalizer, no zero correction is applied, and the operation is aborted, it being assumed that material has commenced to pass on the belt during the zeroing operation. If the deviation is less than 12%, but more than 4% (step 319) from the initial value, an error message is generated (step 320), and the existing zero is retained. Only if the deviation is less than 4% from the initial value is a zero correction applied; this avoids dubious corrections being applied without operator supervision.

When a flowmeter rather than a belt is being monitored, the autozeroing operation proceeds similarly, but the period during which readiness for an autozeroing operation is tested, and the period over which it takes place, have to be calculated without reference to belt length or speed, and will normally have a fixed relationship to the present operating parameters of the apparatus, as exemplified in the program excerpts included in the appendix (not re-printed; see application file) to this specification.

The appendix (not re-printed; see application file) to this specification includes portions of an exemplary computer program for control of apparatus constructed and operating as described above, written partially in assembly language for the 68HC11 microcontroller from Motorola, and partially in the `C` language. So that they stand out in the descriptive text of the specification, all variable and flag names have been rendered in upper case, without quotes. The corresponding names in the program excerpts may be wholly or partially in lower case characters, and the latter versions are those in fact declared in the program. It will be noted from the program excerpts and from the above description that it is a characteristic of the program that nothing is allowed significantly to delay regular execution of the ECPL. The interrupt service routines to which reference is made above are rapidly executed using available data, and the execution steps carried out by the ECPL are all performed on available data; at no point does the program loop wait for data to become available, despite the considerable periods required to carry out some of the steps required in zeroing and other operations to be performed. ##SPC1##