Web based controller

• US 20070005158A1
• Filed: 06/30/2005
• Published: 01/04/2007
• Est. Priority Date: 06/30/2005
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Ma, David, Nicolson, Edward, Latimer, Craig, Findley, Ryan
• Application Number:
  US11/170,082
• Publication Number:
  US 20070005158A1
• Time in Patent Office: Days
• US Class Current: 700/69
• CPC Class Codes: G05B 19/4141 characterised by a controller or microprocessor per axis
• CPC Class Codes: G05B 2219/31196 SOAP, describes available services and how to call them remotely
• CPC Class Codes: G05B 2219/34038 Web, http, ftp, internet, intranet server
• CPC Class Codes: G05B 2219/34208 Motion controller
• CPC Class Codes: H04L 67/025 for remote control or remote monitoring of applications
• CPC Class Codes: H04L 67/125 involving control of end-device applications over a network
• CPC Class Codes: H04L 67/133 Protocols for remote procedure calls [RPC]
• CPC Class Codes: H04L 67/34 involving the movement of software or configuration parameters network booting or remote initial program loading [RIPL] G06F9/4416

Abstract

The invention described in this patent is a motion control system hierarchy where all the components are connected by a two way communication link, which gives the system an ability to transfer data from all levels of the hierarchy up to a PC to be viewed and/or modified. Further, the user interface to the motion control system hierarchy is a ubiquitous web browser obviating the need for additional software installation on the PC. By interfacing through a web browser and adding a embedded web server to the motion controller, the communication protocol is fixed but the format of the communication remains flexible. The invention also uses the Extensible Markup Language (XML) as a means for keeping the interface between the PC and the motion controller as flexible as possible. Among the uses of XML in this invention are as a tool for configuration, data sharing, and for remote procedure calls.

Claims

1. A motion controlling system, comprising following system elements:

at least one stand alone motion controller having software architecture including an embedded web server;

motion drives capable of moving one or more axes of motion, said motion drives communicating with said motion controller; and

at least one client computer from which communication and control of said motion controller can be performed through a web browser.

2. The motion controlling system according to claim 1 wherein said software architecture of the motion controller includes a Real Time Operating System (RTOS) for implementing real-time routines.

3. The motion controlling system according to claim 2 wherein, said real-time routines take place at deterministic time intervals of axis of motion position update at 16 kHz.

4. The motion controlling system according to claim 1, wherein said software architecture of said motion controller includes a flash file system for file storage.

5. The motion controlling system according to claim 1, wherein said software architecture of said motion controller includes a File Transfer Protocol (FTP) server for file transfer.

6. The motion controlling system according to claim 1, wherein said software architecture of said motion controller includes an embedded web server capable of communicating with a web browser via Hypertext Transfer Protocol (HTTP).

7. The motion controlling system according to claim 1, wherein said software architecture of said motion controller includes TCP sockets for web services and Simple Object Access Protocol (SOAP) Remote Procedure Calls (RPC).

8. The motion controlling system according to claim 1, wherein said software architecture of said motion controller includes any one of stored Java bytecode, Javascript, or ActiveX code.

9. The motion controlling system according to claim 1, wherein said software architecture of said motion controller stores configuration files in Extensible Markup Language (XML) format.

10. The motion controlling system according to claim 1, wherein said software architecture of said motion controller includes an XML parser which interprets XML documents.

11. The motion controlling system according to claim 1, wherein said software architecture of said motion controller includes remote API for executing C code on the motion controller from the web browser.

12. The motion controlling system according to claim 1, wherein said web browser in said client computer in said client computer performs all tasks specified below without additional software on said client computer other than the web browser.

13. The motion controlling system according to claim 1, wherein said web browser in said client computer sends and/or receives data to any system component.

14. The motion controlling system according to claim 13, wherein data is sent and/or received in said client computer via HTTP or TCP sockets in the form selected from HTML, XSL and XML files.

15. The motion controlling system according to claim 1, wherein said web browser in said client computer receive real-time data logged continuously from any system element and update the web browser'"'"'s Graphical User Interface (GUI).

16. The motion controlling system according to claim 15, wherein said client computer has persistent TCP sockets and Java Applets or ActiveX control on the PC.

17. The motion controlling system according to claim 1, wherein said web browser of said client computer performs configuration by receiving and parsing XML files served up by the motion controller'"'"'s embedded web server.

18. The motion controlling system according to claim 17, wherein configuration is changed by sending XML files to said motion controller.

19. The motion controlling system according to claim 1, wherein said web browser of said client computer conduct remote procedure calls using a set of remote Application Interfaces (API) to execute code stored on the motion controller of claim 1.

20. The motion controlling system according to claim 19, wherein remote procedure calls could be done using SOAP which are in XML format.

21. The motion controlling system according to claim 1 wherein said web browser of said client computer updates firmware stored in the nonvolatile memory of any system element.

22. The motion controlling system according to claim 21, wherein said firmware can be downloaded from the client computer or from another location on the internet.

23. The motion controlling system according to claim 1 wherein said web browser of said client computer uses the web browser interface as a development environment to program and debug a command sequence for said motion controller using the remote API.

24. The motion controlling system according to claim 1 wherein any one of said system elements is connected by two way communication links, whereby data can be sent and retrieved by all levels of the motion control system hierarchy and be viewed and manipulated inside a web browser on the PC.

25. The motion controlling system according to claim 1 wherein any one of said system elements have nonvolatile memory selected from Flash, EEPROM, or battery backed up RAM, which contains data such as component information and/or configurable data.