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1. WO2000039648 - POSITIONAL-BASED MOTION CONTROLLER WITH A BIAS LATCH

Publication Number WO/2000/039648
Publication Date 06.07.2000
International Application No. PCT/US1999/030157
International Filing Date 16.12.1999
IPC
G05B 19/29 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
19characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
27using an absolute digital measuring device
29for point-to-point control
G05B 19/404 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
404characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
CPC
G05B 19/19
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
19characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
G05B 19/414
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
414Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
G05B 2219/41255
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
41Servomotor, servo controller till figures
41255Mode switch, select independent or dependent control of axis
G05B 2219/42126
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
42Servomotor, servo controller kind till VSS
42126Bumpless, smooth transfer between two control modes
G05B 2219/42186
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
42Servomotor, servo controller kind till VSS
42186Master slave, motion proportional to axis
G05B 2219/43174
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
43Speed, acceleration, deceleration control ADC
43174Simulating cam motion mechanism
Applicants
  • SCHNEIDER AUTOMATION INC. [US/US]; One High Street North Andover, MA 01845, US
Inventors
  • SAYLOR, Michael, J.; US
  • PILLSBURY, Nathan, H.; US
Agents
  • GOLDEN, Larry, I.; Square D Company 1415 South Roselle Road Palatine, IL 60067, US
Priority Data
09/222,51529.12.1998US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) POSITIONAL-BASED MOTION CONTROLLER WITH A BIAS LATCH
(FR) CONTROLEUR DE DEPLACEMENT POSITIONNEL AVEC VERROU DE SOLLICITATION
Abstract
(EN)
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.
(FR)
L'invention concerne un contrôleur de déplacement et un procédé de contrôle du déplacement d'une pluralité d'axes. Ledit contrôleur empêche de générer une commande de position discontinue à un axe suiveur. Un circuit ou une routine de fonction de transfert en mode suiveur créé une commande de position en réponse à une position d'axe maître. Cette fonction peut se présenter sous la forme d'un mécanisme de transmission ou de came électronique. Un verrou de sollicitation permet de compenser tout changement de position découlant d'un changement de mode, par exemple le passage du mécanisme de transmission électronique à celui de came électronique, changement des profils de came ou des rapports de transmission, ou changement de l'axe maître. Le verrou est ajouté à la commande de position de la fonction de transfert et une commande de position du générateur de profil de commande de mouvement standard pour alimenter la commande de position de l'axe suiveur. Le verrou est recalculé à chaque modification du mode suiveur. On peut utiliser une commande d'arrêt pour bloquer ou activer sélectivement un signal de commande de mouvement indépendant, l'axe suiveur restant en mouvement lorsque le mode suiveur est arrêté (ne suivant pas l'axe maître), ou mis en marche pendant que l'axe suiveur est en mouvement sans changement brusque de position. Le circuit de calcul de déclenchement permet de calculer préalablement la synchronisation de l'activation du mode suiveur lorsque ce dernier passe de la position arrêt à la position marche, pendant que l'axe suiveur est déjà en mouvement, de sorte que les axes sont en phase après délai d'intégration.
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