Motion control using time synchronization
First Claim
1. A motion control system comprising a set of control nodes each for controlling motion along a single axis of the motion control system, each control node having a clock and each obtaining a set of information via a network that pertains to a control value to be applied to the corresponding axis and in response each control node applying the corresponding control value to the corresponding axis when a trigger time associated with the corresponding control value matches a time in the corresponding clock such that application of the control values to the axes is coordinated by the trigger times and synchronizing the times in the clocks.
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Abstract
A motion control system having a set of control nodes each of which controls motion along a single axis of the motion control system and which coordinate their collective motions using time synchronization technology. Each control node corresponds to an axis of the motion control system and each control node includes a synchronized clock and participates in a protocol for synchronizing the synchronized clocks. The application of a series of control values to each axis in the motion control system is coordinated using the synchronized clocks.
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Citations
20 Claims
- 1. A motion control system comprising a set of control nodes each for controlling motion along a single axis of the motion control system, each control node having a clock and each obtaining a set of information via a network that pertains to a control value to be applied to the corresponding axis and in response each control node applying the corresponding control value to the corresponding axis when a trigger time associated with the corresponding control value matches a time in the corresponding clock such that application of the control values to the axes is coordinated by the trigger times and synchronizing the times in the clocks.
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6. A motion control system comprising:
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a set of control nodes each for controlling motion along a single axis of the motion control system, each control node having a clock and a set of tables each for holding a set of pre-computed control values and corresponding trigger times for a corresponding set of motion control functions of the corresponding axis; selector node that transfers a set of information to each control node via the network that specifies one of the motion control functions to be performed in the corresponding axis such that each control node in response to the corresponding information obtains a control value for the specified motion control function from the corresponding tables and applies the control value to the corresponding axis when the corresponding trigger time matches a time in the corresponding clock such that the motion control functions of the axes are coordinated by the trigger times in the tables and synchronizing the times in the clocks. - View Dependent Claims (7, 8, 9)
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10. A method for controlling a set of axes of a motion control system, comprising the steps of:
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for each axis, obtaining a set of information via a network that pertains to a control value to be applied to the axis; for each axis, applying the control value to the axis when a trigger time associated with the control value matches a time in a clock associated with the axis such that application of the control values to the axes is coordinated by the trigger times and synchronizing the times in the clocks. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A motion control system, comprising:
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first control node for controlling a motion of a first axis of the motion control system, the first control node having a first synchronized clock and means for triggering the motion of the first axis when a trigger time associated with the first axis matches a time in the first synchronized clock; second control node for controlling a motion of a second axis of the motion control system, the second control node having a second synchronized clock and means for triggering the motion of the second axis when a trigger time associated with the second axis matches a time in the second synchronized clock; such that the motions of the first and second axes are started at substantially the same time by setting each trigger time equal to a starting time. - View Dependent Claims (19, 20)
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Specification