Industrial Control System with Distributed Motion Planning
First Claim
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1. An industrial controller comprising:
- a network interface adapted to communicate with one or more connected motor drives;
an electronic computer communicating with the network interface and executing a program stored in non-transient storage medium to;
(1) receive a control program providing motion control instructions;
(2) execute the motion control instructions by;
(a) identifying a motor drive associated with the motor instruction;
(b) determining whether the identified motor drive is capable of executing a motion planner, which provides a time series of motion data for controlling a motor when initiated by a motion command caused by execution of a motion control instruction, and if capable, transmitting the motion command to the identified motor drives over the network interface to the identified drive, otherwise transmitting the motion command to a motion planner in the industrial controller.
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Abstract
An industrial control system provides motion control functions that may distribute motion planning tasks to capable motor drives and motion devices based on stored drive profiles. The profile-aware functions allow control programs to be used with motor drives that are both capable and incapable of executing a motion planning with automatic distribution of the planning tasks as appropriate. Coordination among different devices in the industrial control system when motion planning is distributed may be accommodated through peer-to-peer communication between drives and non-controller devices.
21 Citations
27 Claims
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1. An industrial controller comprising:
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a network interface adapted to communicate with one or more connected motor drives; an electronic computer communicating with the network interface and executing a program stored in non-transient storage medium to; (1) receive a control program providing motion control instructions; (2) execute the motion control instructions by; (a) identifying a motor drive associated with the motor instruction; (b) determining whether the identified motor drive is capable of executing a motion planner, which provides a time series of motion data for controlling a motor when initiated by a motion command caused by execution of a motion control instruction, and if capable, transmitting the motion command to the identified motor drives over the network interface to the identified drive, otherwise transmitting the motion command to a motion planner in the industrial controller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A motor drive comprising:
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a switching circuit for synthesizing power voltage to a motor; a network interface for communicating with an industrial controller; an electronic computer communicating with the switching circuit and the network interface and executing a program stored in non-transient storage medium to; (1) receive a motion command from an industrial controller over the network interface, the motion command indicating execution of a motion instruction by the industrial controller; (2) in response to the motion command, generate time series of motion data for the switching circuit using a motion planner; and (3) communicate with the industrial controller a completion of a motion profile representing at least a portion of the time series of motion data. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. An output module comprising:
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electrical outputs adapted for connection to external equipment; a network interface for communicating with other devices; an electronic computer communicating with the electrical outputs and the network interface and executing a program stored in non-transient storage medium to; (1) receive over the network interface, motion data providing a time series of data values representing motion of a device; (2) receive over the network interface a output camming command from an industrial controller over the network interface; (3) in response to the camming command, generate at an electrical output, cam data providing a time series of data values representing a cycle of desired motion of a device, the cam data based on the received motion data and a cam function held in the output module mapping motion data to cam data; and (4) send a completion signal to the industrial controller over the network interface after generation of the cycle of cam data. - View Dependent Claims (20, 21, 22, 23, 24, 25)
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26. An input module comprising:
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electrical inputs adapted for connection to external equipment to receive electrical signal therefrom; a network interface for communicating with other devices; an electronic computer communicating with the electrical inputs and the network interface and executing a program stored in non-transient storage medium to; (1) receive over the network interface motion data providing a time series of data value representing motion of the device and a registration command; (2) in response to a registration command control a recording of motion data based on a predetermined state of an electrical signal from an electrical input; (4) send a completion signal to the industrial controller over the network interface after completion of recording of motion data together with the recorded motion data.
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27. An input module comprising:
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electrical inputs adapted for connection to external equipment to receive electrical signal therefrom; a network interface for communicating with other devices; an electronic computer communicating with the electrical inputs and the network interface and executing a program stored in non-transient storage medium to; (1) receive over the network interface motion data providing a time series of data value representing motion of the device and a watch command; (2) in response to the watch command, control a recording of an electrical signal from an electrical input based on a predetermined state of the motion data; (4) send a completion signal to the industrial controller over the network interface after completion of recording of electrical signal together with the recorded electrical signal.
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Specification