Motion control systems

• US 20060282180A1
• Filed: 06/14/2006
• Published: 12/14/2006
• Est. Priority Date: 05/30/1995
• Status: Active Grant

• Current Assignee: Automation Middleware Solutions, Inc. (Quarterhill Inc. (f/k/a Wi-LAN Inc.))
• Original Assignee: ROY-G-BIV Corporation
• Inventors: Brown, David W., Clark, Jay S.
• Granted Patent: US 8,271,105 B2
• Time in Patent Office: Days
• US Class Current: 700/56
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G05B 19/0426 Programming the control sequence
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/23262 DDE direct data exchange, DLL dynamic library linking
• CPC Class Codes: G05B 2219/23265 Select device driver for actuator, sensor
• CPC Class Codes: G05B 2219/34216 Programmable motion controller
• CPC Class Codes: G05B 2219/34287 Plc and motion controller combined
• CPC Class Codes: G05B 2219/36035 Special language, task programming, oop object oriented programming
• CPC Class Codes: G05B 2219/36036 Motion, graphical motion control language gmcl
• CPC Class Codes: G05B 2219/43167 Distributed motion control

Abstract

A system for controlling at least one selected motion control device selected from a group of supported motion control devices. The system comprises a set of software drivers, a selection component, and a software system. Each software driver in the set of software drivers is associated with one motion control device in the group of supported motion control devices, and a selected software driver is associated with at least one selected motion control device. The selection component identifies at least one selected software driver from the set of software drivers. The software system calls a series of component function calls to control the at least one selected motion control device associated with the at least one selected software driver based on the at least one selected software driver such that the at least one motion control device moves in a desired manner.

Claims

1. A system for commanding at least one motion control device, comprising:

a set of motion operations;

a software system comprising a set of module function calls, where the software system is capable of directing at least one motion control device to perform at least one motion operation;

a set of software drivers, where at least one software driver is selectable and associated with at least one motion control device;

a selection module for selecting at least one selectable software driver from the set of software drivers, where the at least one selectable software driver is associated with the at least one motion control device; and

a motion control module for commanding the at least one motion control device based on the at least one selectable software driver and the module functions called by the software system such that the at least one motion control device performs at least one motion operation.

2. A system as recited in claim 1, in which the selection module comprises a user interface that allows a user to select the at least one selectable software driver.

3. A system as recited in claim 1, in which the selection module comprises a selection interface that allows the at least one selectable software driver to be selected programmatically.

4. A system as recited in claim 1, in which at lease one motion operation is capable of causing data to be sent to at least one motion control device and at least one motion operation is capable of causing data to be received from at least one motion control device.

5. A system as recited in claim 1, in which at least one motion operation is capable of being used to monitor at least one motion control device and at least one motion operation is capable of causing the motion control device to be configured

6. A system as recited in claim 1, in which at least one of the software drivers in the set of software drivers conforms to a common driver interface.

7. A system as recited in claim 6, in which the common driver interface comprises a set of module functions that are exposed to the motion control module by at least one of the software drivers.

8. A system as recited in claim 6, in which the motion control module communicates with the at least one motion control device through the common driver interface of the software driver associated with the at least one motion control device.

9. A system as recited in claim 6, in which the software system communicates with the motion control module.

10. The system of claim 1, wherein the software system communicates with the motion control module.

11. The system of claim 1, wherein at least one motion operation is capable of causing motion data to be sent to at least one motion control device.

12. The system of claim 1, wherein at least one motion operation is capable of causing data to be received from at least one motion control device.

13. The system of claim 1, wherein at least one motion operation is capable of causing at least one motion control device to be controlled.

14. The system of claim 1, wherein at least one motion operation is capable of being used to monitor at least one motion control device.

15. The system of claim 1, wherein at least one motion operation is capable of causing the motion control device to be configured.

16. A system as recited in claim 1, wherein the software system comprises an application program.

17. A system as recited in claim 1, wherein the software system comprises a server module.

18. A system as recited in claim 1, in which the selection module comprises a user interface that allows a user to select the at least one motion control device.

19. A system as recited in claim 1, in which the selection module comprises a selection interface that allows the at least one motion control device to be selected programmatically.

20. A system as recited in claim 6, in which a definition of the common interface is acquirable from an operating system.

21. A system as recited in claim 6, in which a definition of the common interface is acquirable from at least one software driver.

22. A system as recited in claim 6, in which a definition of the common interface is acquirable from a persistent storage medium.

23. A system as recited in claim 7, in which the motion module is capable of acquiring a definition of the common interface from an operating system.

24. A system as recited in claim 7, in which the motion module is capable of acquiring a definition of the common interface from at least one software driver.

25. A system as recited in claim 7, in which the motion module is capable of acquiring a definition of the common interface from a persistent storage medium.

26. A system for commanding at least one motion control device, comprising:

a set of motion operations;

a set of software drivers, where at least one software driver is selectable and associated with at least one motion control device;

a selection module for selecting at least one selectable software driver from the set of software drivers; and

a software system for calling a set of module function calls to command at least one motion control device associated with the at least one selectable software driver based on the at least one selected software driver such that at least one motion control device performs at least one motion operation.

27. A system as recited in claim 26, in which the selection module comprises a user interface that allows a user to select the at least one selectable software driver.

28. A system as recited in claim 26, in which the selection module comprises a selection interface that allows the at least one selectable software driver to be selected programmatically.

29. A system as recited in claim 26, in which at lease one motion operation is capable of causing data to be sent to at least one motion control device and at least one motion operation is capable of causing data to be received from at least one motion control device.

30. A system as recited in claim 26, in which at least one motion operation is capable of being used to monitor at least one motion control device and at least one motion operation is capable of causing the motion control device to be configured.

31. A system as recited in claim 26, in which at least one of the software drivers in the set of software drivers conforms to a common driver interface.

32. A system as recited in claim 31, in which the common driver interface comprises a set of module functions that are exposed to the software system by at least one of the software drivers.

33. A system as recited in claim 31, in which the software system communicates with the at least one motion control device through the common driver interface of the software driver associated with the at least one motion control device.

34. The system of claim 26, wherein at least one motion operation is capable of causing motion data to be sent to at least one motion control device.

35. The system of claim 26, wherein at least one motion operation is capable of causing data to be received from at least one motion control device.

36. The system of claim 26, wherein at least one motion operation is capable of causing at least one motion control device to be controlled.

37. The system of claim 26, wherein at least one motion operation is capable of being used to monitor at least one motion control device.

38. The system of claim 26, wherein at least one motion operation is capable of causing at least one motion control device to be configured.

39. A system as recited in claim 26, in which the selection component comprises a user interface that allows a user to select the at least one motion control device.

40. A system as recited in claim 26, in which the selection component comprises a selection interface that allows the at least one motion control device to be selected programmatically.

41. A system as recited in claim 26, in which more than one of the software drivers in the set of software drivers conforms to a common driver interface.

42. A system as recited in claim 31, in which a definition of the common interface is acquirable from an operating system.

43. A system as recited in claim 31, in which a definition of the common interface is acquirable from a persistent storage medium.

44. A system as recited in claim 31, in which a definition of the common interface is acquirable from at least one software driver.

45. A system as recited in claim 32, in which the software system is capable of acquiring a definition of the common interface from an operating system.

46. A system as recited in claim 32, in which the software system is capable of acquiring a definition of the common interface from at least one software driver.

47. A system as recited in claim 32, in which the software system is capable o4f acquiring a definition of the common interface from a persistent storage medium.

48. A system for commanding at least one motion control device, comprising:

a set of motion operations;

a set of software drivers, where at least one software driver is selectable and associated with at least one motion control device; and

a software system for selecting at least one selectable software driver from the set of software drivers and calling a set of module function calls to command at least one motion control device associated with the at least one selectable software driver based on the at least one selected software driver such that at least one motion control device performs at least one motion operation.

49. A system as recited in claim 48, in which the software system comprises a user interface that allows a user to select the at least one selectable software driver.

50. A system as recited in claim 48, in which the software system comprises a selection interface that allows the at least one selectable software driver to be selected programmatically.

51. A system as recited in claim 48, in which at lease one motion operation is capable of causing data to be sent to at least one motion control device and at least one motion operation is capable of causing data to be received from at least one motion control device.

52. A system as recited in claim 48, in which at least one motion operation is capable of being used to monitor at least one motion control device and at least one motion operation is capable of causing the motion control device to be configured.

53. A system as recited in claim 48, in which at least one of the software drivers in the set of software drivers conforms to a common driver interface.

54. A system as recited in claim 53, in which the common driver interface comprises a set of module functions that are exposed to the software system by at least one of the software drivers.

55. A system as recited in claim 53, in which the software system communicates with the at least one motion control device through the common driver interface of the software driver associated with the at least one motion control device.

56. The system of claim 48, wherein at least one motion operation is capable of causing motion data to be sent to at least one motion control device.

57. The system of claim 48, wherein at least one motion operation is capable of causing data to be received from at least one motion control device.

58. The system of claim 48, wherein at least one motion operation is capable of causing the motion control device to be controlled.

59. The system of claim 48, wherein at least one motion operation is capable of being used to monitor at least one motion control device.

60. The system of claim 48, wherein at least one motion operation is capable of causing at least one motion control device to be configured.

61. A system as recited in claim 53, in which a definition of the common interface is acquirable from an operating system.

62. A system as recited in claim 53, in which a definition of the common interface is acquirable from at least one software driver.

63. A system as recited in claim 53, in which a definition of the common interface is acquirable from a persistent storage medium.

64. A system as recited in claim 54, in which the motion module is capable of acquiring a definition of the common interface from an operating system.

65. A system as recited in claim 54, in which the motion module is capable of acquiring a definition of the common interface from at least one software driver.

66. A system as recited in claim 54, in which the motion module is capable of acquiring a definition of the common interface from a persistent storage medium.

67. A system for commanding at least one motion control device, comprising:

a set of motion operations;

an application program comprising a set of module function calls, where the application program is capable of directing at least one motion control device to perform at least one motion operation;

a set of software drivers, where at least one software driver is selectable and associated with at least one motion control device;

a software system for selecting at least one motion control device and associating at least one software driver with the motion control device.

68. A system as recited in claim 67, in which the software system comprises a user interface that allows a user to select at least one motion control device.

69. A system as recited in claim 67, in which the software system comprises a selection interface that allows the at least one motion control device to be selected programmatically.

70. A system as recited in claim 67, in which at least one motion operation is capable of causing data to be sent to at least one motion control device and at least one motion operation is capable of causing data to be received from at least one motion control device.

71. A system as recited in claim 67, in which at least one motion operation is capable of being used to monitor at least one motion control device and at least one motion operation is capable of causing the motion control device to be configured.

72. A system as recited in claim 67, in which at least one of the software drivers in the set of software drivers conforms to a common driver interface.

73. A system as recited in claim 72, in which the common driver interface comprises a set of module functions that are exposed to the software system by at least one of the software drivers.

74. A system as recited in claim 72, in which the software system communicates with the at least one motion control device through the common driver interface of the software driver associated with at least one motion control device.

75. A system as recited in claim 72, in which the application program communicates with the at least one motion control device through the common driver interface of the software driver associated with at least one motion control device.

76. The system of claim 67, wherein at least one motion operation is capable of causing motion data to be sent to at least one motion control device.

77. The system of claim 67, wherein at least one motion operation is capable of causing data to be read from at least one motion control device.

78. The system of claim 67, wherein at least one motion operation is capable of causing at least one motion control device to be controlled.

79. The system of claim 67, wherein at least one motion operation is capable of being used to monitor at least one motion control device.

80. The system of claim 67, wherein at least one motion operation is capable of causing at least one motion control device to be configured.

81. A system as recited in claim 72, in which a definition of the common interface is acquirable from an operating system.

82. A system as recited in claim 72, in which a definition of the common interface is acquirable from at least one software driver.

83. A system as recited in claim 72, in which a definition of the common interface is acquirable from a persistent storage medium.

84. A system as recited in claim 73, in which the software system is capable of acquiring a definition of the common interface from an operating system.

85. A system as recited in claim 73, in which the software system is capable of acquiring a definition of the common interface from at least one software driver.

86. A system as recited in claim 73, in which the software system is capable of acquiring a definition of the common interface from a persistent storage medium.

87. A system for receiving data from at least one motion control device, comprising:

a motion control device;

a set of data items;

a software system capable of receiving at least one data item from at least one motion control device;

a set of software drivers, where at least one software driver is selectable and associated with at least one motion control device;

a motion control module for converting at least one data item from a data format specific to at least one motion control device into a second data format and sending at least one data item in the second data format to the software system.

88. A system as recited in claim 87, further comprising a selection module used to select at least one selectable software driver.

89. A system as recited in claim 88, in which the selection module comprises a user interface that allows a user to select the at least one selectable software driver.

90. A system as recited in claim 88, in which the selection module comprises a selection interface that allows the at least one selectable software driver to be selected programmatically.

91. A system as recited in claim 87, in which at least one data item is capable of being used to monitor at least one motion control device.

92. A system as recited in claim 87, in which the motion control module conforms to a common interface.

93. A system as recited in claim 92, in which the common interface comprises a set of module functions that allow at least one data item to be received.

94. A system as recited in claim 92, in which the software system communicates with the motion control module through the common interface.

95. The system of claim 87, wherein the software system communicates with the motion control module.

96. The system of claim 87, wherein at least one data item contains motion data received from at least one motion control device.

97. The system of claim 87, wherein at least one data item contains program data.

98. The system of claim 87, wherein at least one data item contains data received from a sensor connected to the motion control device.

99. The system of claim 87, wherein at least one data item contains configuration data received from the motion control device.

100. A system as recited in claim 87, wherein the software system comprises an application program.

101. A system as recited in claim 87, wherein the software system comprises a server module.

102. A system as recited in claim 88, in which the selection module comprises a user interface that allows a user to select at least one motion control device.

103. A system as recited in claim 88, in which the selection module comprises a selection interface that allows the at least one motion control device to be selected programmatically.

104. A system as recited in claim 92, in which a definition of the common interface is acquirable from an operating system.

105. A system as recited in claim 92, in which a definition of the common interface is acquirable from the motion control module.

106. A system as recited in claim 92, in which a definition of the common interface is acquirable from a persistent storage medium.

107. A system as recited in claim 87, in which the second data format is independent of at least one motion control device.

108. A system for receiving data items from at least one motion control device, comprising:

a motion control device;

a set of data items;

a set of software drivers, where at least one software driver is selectable and associated with at least one motion control device;

a software system for receiving a set of data items from at least one motion control device associated with the at least one selectable software driver based on the at least one selected software driver such that at least one selected software driver receives a data item in a format supported by the motion control device from which the data is received, converts the data item into a second data format, and sends the data item to the software system in the second data format.

109. A system as recited in claim 108, further comprising a selection module.

110. A system as recited in claim 109, in which the selection module comprises a user interface that allows a user to select the at least one selectable software driver.

111. A system as recited in claim 109, in which the selection module comprises a selection interface that allows the at least one selectable software driver to be selected programmatically.

112. A system as recited in claim 108, further comprising an operating system that allows at least one selectable software driver to be selected.

113. A system as recited in claim 112, in which the operating system that allows at least one selectable software driver to be selected programmatically.

114. A system as recited in claim 112, in which the operating system that allows at least one selectable software driver to be selected from a persisted storage.

115. A system as recited in claim 108, in which at least one data item contains motion data received from at least one motion control device.

116. A system as recited in claim 108, in which at least one data item contains configuration data received from at least one motion control device.

117. A system as recited in claim 108, in which at least one of the software drivers in the set of software drivers conforms to a common driver interface.

118. A system as recited in claim 117, in which the common driver interface comprises a set of module functions that are exposed to the software system by at least one of the software drivers.

119. A system as recited in claim 117, in which the software system communicates with at least one motion control device through the common driver interface of at least one software driver associated with the at least one motion control device.

120. The system of claim 108, wherein at least one data item contains program data received from at least one motion control device.

121. The system of claim 108, wherein at least one data item contains data received from at least one program logic controller connected to at least one motion control device.

122. The system of claim 108, wherein at least one data item contains data received from at least one sensor connected to at least one motion control device.

123. A system as recited in claim 109, in which the selection module comprises a user interface that allows a user to select the at least one motion control device.

124. A system as recited in claim 109, in which the selection module comprises a selection interface that allows the at least one motion control device to be selected programmatically.

125. A system as recited in claim 117, in which a definition of the common driver interface is acquirable from an operating system.

126. A system as recited in claim 117, in which a definition of the common driver interface is acquirable from a persistent storage medium.

127. A system as recited in claim 117, in which a definition of the common driver interface is acquirable from at least one software driver.

128. A system as recited in claim 118, in which the software system is capable of acquiring a definition of the common driver interface from an operating system.

129. A system as recited in claim 118, in which the software system is capable of acquiring a definition of the common driver interface from at least one software driver.

130. A system as recited in claim 118, in which the software system is capable of acquiring a definition of the common driver interface from a persistent storage medium.