SCALABLE MOTION CONTROL SYSTEM
First Claim
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1. A method of operating an axis of a control system comprising:
- generating a trajectory for the axis in terms of a position, velocity, and acceleration for each point of a plurality of points on the trajectory; and
calculating an inverse dynamic model of the axis to determine a gain value and a feedforward term for each point.
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Abstract
A control system includes a clustered architecture having a master controller, a central control section including one or more first remote controllers under direct control of the master controller, and a distributed control section including a cluster controller controlled by the master controller. The cluster controller controls the activities of one or more second remote controllers. Each of the first and second remote controllers are utilized to drive one or more axes.
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Citations
22 Claims
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1. A method of operating an axis of a control system comprising:
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generating a trajectory for the axis in terms of a position, velocity, and acceleration for each point of a plurality of points on the trajectory; and calculating an inverse dynamic model of the axis to determine a gain value and a feedforward term for each point. - View Dependent Claims (2, 3)
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4. A method of obtaining axis data at the time of an event, comprising:
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buffering data at one or more axis nodes; recording time information of a triggering event occurring at a triggering event node of the one or more axis nodes; and processing the buffered data to determine a set of values at a time period indicated by the recorded time information. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling an axis of a control system comprising:
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calculating an operating parameter value for an end effector of the axis; generating a motion profile for an individual joint of the axis such that a motion profile for the end effector does not exceed the operating parameter value. - View Dependent Claims (14, 15)
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16. A method for controlling an axis comprising:
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calculating a velocity and a torque for a position of the axis; predetermining a first maximum time period during which an axis velocity may exceed the calculated velocity; predetermining a second maximum time period during which an axis torque may exceed the calculated torque; disabling the axis if the first or second maximum time period is exceeded. - View Dependent Claims (17, 18, 19, 20)
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21. A method of bringing an axis to a controlled stop comprising:
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determining if power has been lost to a system including the axis; applying a trajectory to the axis that brings the axis to a zero velocity within a predetermined time period; and removing power from the axis at the end of the predetermined time period. - View Dependent Claims (22)
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Specification