Method and apparatus for coordinating external device motion with motion of independent movers in a linear drive system

An apparatus for coordinating motion between an external device and at least one mover in a linear drive system, wherein the linear drive system includes a plurality of segments, the apparatus comprising:

• a motion controller having:
• a memory operative to store a first coordinate system, a second coordinate system, a coordinate system offset between the first and second coordinate systems, and at least one control program;
• a processor operative to execute the control program to:
• receive a coordinated motion command for the external device and the at least one mover;
• generate a first motion command from the coordinated motion command defining motion for the at least one mover in the first coordinate system;
• generate a second motion command from the coordinated motion command defining motion for the external device in the first coordinate system;
• transform the second motion command from the first coordinate system to the second coordinate system as a function of the coordinate system offset;
• transmit the transformed second motion command to an external controller, wherein the external controller is operative to control the external device;
• and
• transmit the first motion command to a plurality of segment controllers;
• and
• the plurality of segment controllers wherein each of the plurality of segment controllers is operative to drive the at least one mover along one of the plurality of segments.

A method for coordinating motion between an external device and at least one mover in a linear drive system, wherein the linear drive system includes a track along which each mover travels, the method comprising the steps of:

• defining a first coordinate system in a motion controller, wherein the first coordinate system corresponds to the track;
• defining a second coordinate system in the motion controller, wherein the second coordinate system corresponds to the external device;
• storing a coordinate system offset in a memory of the motion controller, wherein the coordinate system offset is an offset between the first coordinate system and the second coordinate system;
• receiving a coordinated motion command for the external device at the motion controller, wherein the coordinated motion command defines at least one mover to move in tandem with the external device;
• generating a first motion command at the motion controller from the coordinated motion command, wherein the first motion command defines motion for the at least one mover in the first coordinate system;
• generating a second motion command at the motion controller from the coordinated motion command, wherein the second motion command defines motion for the external device in the first coordinate system;
• generating a transformed motion command at the motion controller by transforming the second motion command to the second coordinate system in the motion controller as a function of the coordinate system offset;
• and
• controlling operation of the at least one mover and of the external device as a function of the first motion command and of the transformed motion command.