Title:
A SYSTEM FOR MOTION CONTROL, METHOD OF USING THE SYSTEM FOR MOTION CONTROL, AND COMPUTER-READABLE INSTRUCTIONS FOR USE WITH THE SYSTEM FOR MOTION CONTROL
Document Type and Number:
WIPO Patent Application WO2002065219
Kind Code:
A3
Abstract:
A motion control system ane method that includes a central controller configured to generate first and second demand control signals to be used to define actuation motion of respective first and second actuators. The central controller is in communication with first and second nodes by way of a data network, each node including at least a respective actuator configured to implement at an actuator time a motion or force-related effort based upon the respective demand control signal. Each node also includes a memory configured to store at least one respective propagation delay parameter related to a signal propagation delay between the central controller and the node. A timing mechanism establishes timing at each node based on the respectie propagation delay parameters so that the actuator time at the nodes occur simultaneously. Strict cycle and/or full-duplex high-speed communication can be supported. The network can be wired in a ring or as a tree and with twisted pair cabling or fiber. The central controller can also provide a timing message that is used by the nodes, in conjunction with local delay correction circuitry, so that the simultaneous acquisition of data and the simultaneous implementation of controlled action occur.
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Inventors:
PEARCE ROBERT
CLINE DAVID
CLINE DAVID
Application Number:
PCT/US2002/003850
Publication Date:
November 20, 2003
Filing Date:
February 11, 2002
Export Citation:
Assignee:
MOTION ENGINEERING INC (US)
International Classes:
G05B15/02; G01C22/00; G06F13/10; H04J3/06; H04J99/00; H04L12/28; H04L12/42; H04L12/423; G05B; (IPC1-7): G06F13/10
Foreign References:
| US4214823A | 1980-07-29 | |||
| US4262336A | 1981-04-14 | |||
| US4449196A | 1984-05-15 | |||
| US5555438A | 1996-09-10 | |||
| US5821666A | 1998-10-13 |
Other References:
"Offline development system (ODS) user manual, publication 8520-UM051A-EN-P", October 2000, ALLEN-BRADLEY COMPANY, INC., XP002953615
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