METHOD AND SYSTEM FOR MEETING END CONDITIONS IN A MOTION CONTROL SYSTEM

• US 20090105883A1
• Filed: 10/21/2007
• Published: 04/23/2009
• Est. Priority Date: 10/21/2007
• Status: Active Grant

• Current Assignee: Intelligent Platforms, LLC (Emerson Electric Company)
• Original Assignee: GE Intelligent Platforms Incorporated (Emerson Electric Company)
• Inventors: Morrison, William Lindsay, Miller, Daniel H.
• Granted Patent: US 8,050,800 B2
• Time in Patent Office: Days
• US Class Current: 700/275
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/34208 Motion controller
• CPC Class Codes: G05B 2219/42244 Enter acceleration, jerk, generator outputs acceleration, speed, position by integration
• CPC Class Codes: G05B 2219/42255 Acceleration, deceleration time is a multiple of sampling time
• CPC Class Codes: G05B 2219/43018 Compensation, correction of acceleration, deceleration time
• CPC Class Codes: G05B 2219/43065 Limitation of jerk

Abstract

One embodiment of a system and method for meeting end conditions of a path plan utilizing a path generator that continuously generates commands for a path plan while tracking the total time expired in the path plan. The path generator computes the time remaining in the path plan and substitutes the remaining time for the length of the final sample period in the path plan when the length of the remaining time is less than the length of a full sample period.

Claims

1. A method for meeting end conditions of a path plan, the method utilizing a path generator, the method comprising:

outputting control commands from the path generator for the movement on a path plan;

computing time remaining to complete the movement on said path plan;

determining whether remaining time is less than the length of a sample period; and

substituting said remaining time for length of sample period when remaining time is less than sample period.

2. A method for meeting end conditions of a path plan, the method utilizing a path generator, the method comprising:

outputting control commands from the path generator for the movement on a path plan;

computing time remaining to complete the movement on said path plan;

determining whether remaining time is less than the length of a sample period;

calculating end values by substituting said remaining time for length of sample period when remaining time is less than sample period; and

checking said end values against the final end conditions of the move.

3. A system for meeting end conditions of a path plan comprising:

a path generator for generating commands for a path plan;

computing time remaining to complete a movement on said path plan;

determining whether remaining time is less than the length of a sample period; and

substituting said remaining time for length of sample period when of remaining time is less than sample period.

4. The system of claim 3 wherein said path generator is a firmware subsystem of a microprocessor;

and

said path generator subsystem is dedicated to path planning.

5. The system of claim 3 wherein the system is an automation controller for meeting end conditions of a path plan comprising:

a fiber terminal block comprising a field programmable gate array subsystem;

at least one input/output module;

a servo controller; and

a path generator.

6. A system for meeting end conditions of a path plan comprising:

a path generator for generating commands for a path plan;

computing time remaining to complete the movement on said path plan;

determining whether remaining time is less than the length of a sample period;

calculating end values by substituting said remaining time for length of sample period when remaining time is less than sample period; and

checking said end values against the final end conditions of the move.

7. A microprocessor for meeting end conditions of a path plan comprising:

a path generator for generating commands for a path plan configured to compute remaining time to complete a movement on said path plan;

determine whether remaining time is less than the length of a sample period; and

substitute said remaining time for length of the sample period when of remaining time is less than the sample period.