Positional-based motion controller with a bias latch
First Claim
1. A motion controller which prevents a discontinuous position command to a follower axis when a follower mode is changed comprising:
- a move profile generator which generates a move profile position value;
a transfer function position generator which generates a transfer function position value;
a latch which generates a bias position value; and
a summer which generates a follower axis position value in response to said move profile position value, said transfer function position value and said bias position value.
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Accused Products
Abstract
A motion controller and a method of controlling the motion of a plurality of axes which prevents a discontinuous position command being generated to a follower axis. A follower mode transfer function circuit or routine generates a position command in response to a master axis position. This function can be in the form of electronic gearing or camming. A bias latch is utilized to offset any change in position resulting from a change in mode, such as changing from electronic gearing to electronic camming, changing cam profiles or gearing ratios, or changing the master axis. The latch is summed with the transfer function position command and a standard move command profile generator position command to provide the follower axis position command. The latch is recalculated each time the follower mode is changed. A halt command can be used to selectively block or enable an independent move command signal, allowing the follower axis to remain in motion when the follower mode is turned off (not following the master axis), or allowing the follower mode to be turned on while the follower axis is in motion without a sudden change in position. Trigger calculation circuitry is used to precalculate timing for activating the follower mode when follower mode is changed from off to on while the follower axis is already in motion such that the axes are in phase after ramping time.
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Citations
26 Claims
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1. A motion controller which prevents a discontinuous position command to a follower axis when a follower mode is changed comprising:
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a move profile generator which generates a move profile position value; a transfer function position generator which generates a transfer function position value; a latch which generates a bias position value; and a summer which generates a follower axis position value in response to said move profile position value, said transfer function position value and said bias position value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A motion controller comprising:
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circuitry for generating a first position value in response to a first axis position value; circuitry for generating a second position value which offsets a change in said first position value due to a change in a mode of operation of said circuitry for generating a first position value; and circuitry for generating a second axis position value in response to said first position value and said second position value. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A method of preventing a discontinuous position command to a follower axis when a follower mode is changed comprising the steps of:
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generating a move profile position value; providing a master axis position value; generating a transfer function position value in response to said master axis position value; generating a bias position value which offsets a change in said transfer function position value due to a change in said follower mode; and generating a follower axis position value in response to said move profile position value, said transfer function position value, and said bias position value. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification