MOTION CONTROL TIMING MODELS

• US 20070058929A1
• Filed: 09/29/2006
• Published: 03/15/2007
• Est. Priority Date: 11/23/2004
• Status: Active Grant

• Current Assignee: Rockwell Automation Technologies Incorporated (Rockwell Automation, Inc.)
• Original Assignee: Rockwell Automation Technologies Incorporated (Rockwell Automation, Inc.)
• Inventors: Chaffee, Mark
• Granted Patent: US 7,904,184 B2
• Time in Patent Office: Days
• US Class Current: 386/316
• CPC Class Codes: G05B 19/0423 Input/output
• CPC Class Codes: G05B 19/408 characterised by data handling or data format, e.g. reading, buffering or conversion of data
• CPC Class Codes: G05B 19/4141 characterised by a controller or microprocessor per axis
• CPC Class Codes: G05B 19/4185 characterised by the network communication
• CPC Class Codes: G05B 2219/25472 Synchronise controllers, sensors, measurement with data bus
• CPC Class Codes: G05B 2219/33273 DCS distributed, decentralised controlsystem, multiprocessor
• CPC Class Codes: G05B 2219/34208 Motion controller
• CPC Class Codes: G05B 2219/34413 Add time stamp to command message
• CPC Class Codes: H04J 3/0667 Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays arrangements for monitoring round trip delays in packet switching networks H04L43/0864
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The claimed subject matter provides systems and/or methods that facilitate utilizing a motion control timing model to coordinate operations associated with controlling motion within an industrial automation environment. For example, a cycle timing component can implement timing set forth by a timing model (e.g., that can be selected, preset, . . . ). Pursuant to an illustration, the cycle timing component can utilize the timing model to coordinate transmitting data, receiving data, performing calculations associated with data (e.g., to generate command(s)), capturing data, applying received commands, and so forth.

Claims

1. A system that facilitates coordinating timing associated with motion control in an industrial automation environment, comprising:

a motion control component that communicates with a disparate motion control component via a network connection; and

a cycle timing component that utilizes a timing model to coordinate timing of operations of the motion control component related to motion control.

2. The system of claim 1, the motion control component is a controller.

3. The system of claim 1, the motion control component is a control axis object.

4. The system of claim 1, the motion control component is a drive.

5. The system of claim 1, the motion control component is a drive axis object.

6. The system of claim 1, the motion control component and the disparate motion control component utilize a common understanding of time to effectuate performing the operations in accordance with the timing model.

7. The system of claim 1, the operations being one or more of transmitting data, receiving data, performing calculations associated with data, capturing data, and applying received commands.

8. The system of claim 1, the cycle timing component employs a single-cycle timing model that effectuates updating one or more of position and velocity of a drive in one coarse update period.

9. The system of claim 8, the cycle timing component utilizes the single-cycle timing model to allocate balanced portions of the one coarse update period to input data transmission, output data transmission, and non-motion related data transmission.

10. The system of claim 1, the cycle timing component employs a two-cycle timing model that effectuates updating at least one of position and velocity of a drive in two coarse update periods.

11. The system of claim 10, the cycle timing component utilizes the two-cycle timing model to allot one coarse update period to input data transmission and a second coarse update period to generation of commands and output data transmission of the commands.

12. The system of claim 1, the cycle timing component employs a three-cycle timing model that effectuates updating one or more of position and velocity of a drive in three coarse update periods.

13. The system of claim 12, the cycle timing component utilizes the three-cycle timing model to apportion one coarse update period for input data transfer, a second coarse update period to perform calculations upon the input data, and a third coarse update period for output data transfer.

14. The system of claim 1, the motion control component being a drive that captures actual data at a beginning of a coarse update period based upon the timing model.

15. The system of claim 14, the drive transmits the actual data concurrently with at least one disparate drive to a Ethernet switch, and the Ethernet switch serializes the actual data from the drive and the at least one disparate drive for transmission to a controller.

16. The system of claim 1, the cycle timing component being preset with the timing model.

17. The system of claim 1, the cycle timing component selects the timing model from a set of timing models.

18. The system of claim 1, the network connection is associated with at least one of Ethernet, ControlNet, and DeviceNet.

19. A method that facilitates coordinating motion control in an industrial automation environment, comprising:

capturing actual data associated with a drive at a beginning of a coarse update period associated with a timing model;

transmitting the actual data to a controller via a network in accordance with the timing model;

receiving command output data generated by the controller corresponding to the actual data via the network according to the timing model; and

applying the command output data.

20. The method of claim 19, the actual data and the command output data relate to at least one of position of the drive and velocity of the drive.

21. The method of claim 19, further comprising applying the command output data within the coarse update period from actual data capture by utilizing a single-cycle timing model.

22. The method of claim 19, further comprising:

transmitting the actual data during the coarse update period by employing a two-cycle timing model; and

receiving the command output data during a next coarse update period by utilizing the two-cycle timing model.

23. The method of claim 19, further comprising:

transmitting the actual data during the coarse update period by employing a three-cycle timing model; and

receiving the command output data corresponding to the actual data provided in the coarse update period, the command output data being received during a disparate coarse update period that is two coarse update periods subsequent to the coarse update period.

24. The method of claim 23, further comprising utilizing full-duplex network bandwidth for motion related data traffic.

25. The method of claim 23, further comprising effectuating parallel processing of input and output data packets.

26. A system that facilitates coordinating motion control in an industrial automation environment, comprising:

means for receiving actual data during a first time segment associated with a timing model;

means for generating command output data corresponding to the actual data during a second time segment associated with the timing model; and

means for transmitting the command output data during a third time segment associated with the timing model.

27. The system of claim 26, the timing model being a single-cycle timing model.

28. The system of claim 26, the timing model being a two-cycle timing model.

29. The system of claim 26, the timing model being a three-cycle timing model.

30. The system of claim 26, the actual data and the command output data relate to at least one of position of the drive and velocity of the drive.