System for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control
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Abstract
A motion control system and method that includes a central controller configured to generate first and second demand control signals to be used to define actuation motion of respective first and second actuators. The central controller is in communication with first and second nodes by way of a data network, each node including at least a respective actuator configured to implement at an actuator time a motion or force-related effort based upon the respective demand control signal. Each node also includes a memory configured to store at least one respective propagation delay parameter related to a signal propagation delay between the central controller and the node. A timing mechanism establishes timing at each node based on the respective propagation delay parameter so that the actuator time at the nodes occurs simultaneously. Strictly cyclic and/or full-duplex high-speed communication can be supported. The network can be wired in a ring or as a tree and with twisted pair cabling or fiber. The central controller issues demand signals to the nodes that are actuator, servo motor drive, and/or I/O devices. The central controller can also provide a timing message that is used by the nodes, in conjunction with local delay correction circuitry, so that the simultaneous acquisition of data and the simultaneous implementation of controlled action occur.
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Citations
67 Claims
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1-24. -24. (canceled)
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25. A method of synchronizing the operations of a plurality of actuators in a system for motion control, comprising:
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determining a respective propagation delay between a central controller and each actuator of said plurality of actuators; and
timing operations of each actuator based on said determined respective propagation delay for each actuator, wherein said timing operations is configured to delay reception of a servo clock message at each actuator by an amount of time corresponding to the propagation delay parameter for information passed from the central controller to each actuator so that the actuator times at each actuator occur simultaneously. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54)
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35-41. -41. (canceled)
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42. A motion control system, comprising:
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means for determining a respective propagation delays between a central controller and a plurality of actuators; and
means for delaying reception of a servo clock message to stablish timing at each actuator based on each respective propagation delay parameter at each actuator so that the actuator times at each actuator occur simultaneously.
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43. and 44. (canceled)
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55-61. -61. (canceled)
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62. A slave configured to be in communication with a central controller over a data network, said slave comprising:
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a delay correction memory configured to store a delay correction signal related to a propagation delay between said central controller and said slave over said data network;
an actuator configured to implement a motion or force-related effort at an actuator time based upon said stored delay correction signal; and
a timing operation mechanism configured to establish timing at the slave based on the propagation delay and to delay reception of a servo clock message at the actuator by an amount of time corresponding to the propagation delay signal for information passed between the slave and the central controller. - View Dependent Claims (63, 64, 65, 66)
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67-69. -69. (canceled)
Specification