Time stamped motion control network protocol that enables balanced single cycle timing and utilization of dynamic data structures
First Claim
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1. A system that enables controlling motion over a network, comprising:
- an interface that receives motion control data that includes a time stamp from the network during a connection cycle, the connection cycle includes a drive update period which is not an integer multiple of a controller update period (CUP); and
a motion control component that utilizes the received motion control data to update properties associated with the motion control component within the drive update period or the CUP, based at least in part on the time stamp.
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Abstract
A system that enables controlling motion over a network comprises an interface that receives motion control data that includes a time stamp from the network. Additionally, the system includes a motion control component that utilizes the received motion control data to update properties associated with the motion control component based at least in part on the time stamp. The system can also include a clock that is synchronized with disparate clocks associated with disparate motion control components located on the network.
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Citations
44 Claims
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1. A system that enables controlling motion over a network, comprising:
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an interface that receives motion control data that includes a time stamp from the network during a connection cycle, the connection cycle includes a drive update period which is not an integer multiple of a controller update period (CUP); and a motion control component that utilizes the received motion control data to update properties associated with the motion control component within the drive update period or the CUP, based at least in part on the time stamp. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A system that enables controlling motion in an industrial automation environment, comprising:
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a controller that generates command data, which includes a time stamp associated with a time to effectuate modifications, during a controller update period (CUP) and transmits the command data over a network; and a drive that receives the command data and modifies associated commands based on the command data at a time that corresponds with the time stamp, within a drive update period, wherein the drive update period is not an integer multiple of the CUP. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33)
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34. A method that facilitates controlling motion over a network in an industrial automation environment, comprising:
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incorporating a time stamp with motion related data; transmitting the motion related data with the time stamp over a network, during a first update period, to a motion control component that employs a second update period, wherein the first update period is different from an integer multiple of the second update period; receiving disparate motion related data with a disparate time stamp from the motion control component; and updating a receiving node based on the disparate motion related data with the disparate time stamp. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43)
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44. A method that enables controlling motion over a network, comprising:
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receiving motion control data that includes a time stamp from the network from a component employing a first update period; and employing the received motion control data to update properties associated with the motion control component based at least in part on the time stamp, within a second update period, wherein the first update period is disparate from an integer multiple of the second update period.
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Specification