# US 10,310,473 B1 · Systems and methods for path command generation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,310,473 B1 - Document ID: US10310473B1 - Status: Granted - Kind: B1 - Application number: 15/827,780 - Filed: 2017-11-30 - Published: 2019-05-30 - Granted: 2019-06-04 - Earliest claimed: 2017-11-30 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Yoshihiro Marushita - Web page: https://patentgrep.com/patent/US10310473B1 ## CPC - G05B 19/0426: {Programming the control sequence} - B23K 26/043: {along the beam path, i.e. alignment of laser beam axis relative to laser beam apparatus} - B23K 26/38: by boring or cutting - G05B 17/00: Systems involving the use of models or simulators of said systems (G05B13/00, G05B15/00, G05B19/00 take precedence) - G05B 17/02: electric - G05B 19/4069: Simulating machining process on screen (G05B19/4068 takes precedence) - G06F 8/61: Installation - G05B 2219/23452: Simulate sequence on display to control program, test functions - G05B 2219/23456: Model machine for simulation - G05B 2219/36071: Simulate on screen, if operation value out of limits, edit program - G06F 30/20: Design optimisation, verification or simulation (optimisation, verification or simulation of circuit designs G06F30/30) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A system for path command generation includes an industrial machine, an interface accessible via a remote device, and a server communicably coupled to the industrial machine and the remote device via a network. The server includes processing circuitry configured to calculate an optimum path command, simulate the optimum path command based on the calculation of the optimum path command, calculate a cycle time and error of the path command, determine if the path command is acceptable, and transmit path command data to the industrial machine in response to the acceptable path command being selected. ## Claims ### Claim 1 A system, comprising: circuitry configured to provide a displayable interface to receive information regarding control of an industrial machine, calculate an optimum path command, simulate the optimum path command based on the calculation of the optimum path command, calculate a cycle time and error of the path command, determine if the path command is selected, and transmit path command data to the industrial machine in response to the selected path command being selected at the displayable interface. ### Claim 2 (depends on 1) The system of claim 1, wherein the displayable interface is configured to receive input conditions via the displayable interface, display results of the simulation of the optimum path command via the displayable interface, receive a selection of the selected path command via the displayable interface, receive updated input conditions when no currently displayed path command is selected, and transmit the path command data corresponding to the selected path command to be implemented at the industrial machine. ### Claim 3 (depends on 2) The system of claim 2, wherein the industrial machine includes one or more servo motors. ### Claim 4 (depends on 3) The system of claim 3, wherein the optimum path command corresponds to a series of destination points for the one or more servo motors. ### Claim 5 (depends on 4) The system of claim 4, wherein the series of destination points are a set of coordinates based on predetermined shape data, wherein the displayable interface is displayed based on the predetermined shape data. ### Claim 6 (depends on 5) The system of claim 5, wherein the optimum path command includes moving the one or more servo motors between destination points, wherein the time it takes to move the servo motors between the destination points is the same amount of time for every destination point. ### Claim 7 (depends on 5) The system of claim 5, wherein the destination points correspond to X-Y coordinates. ### Claim 8 (depends on 2) The system of claim 2, wherein the results of the simulation displayed via the displayable interface can includes a plurality of options, wherein the plurality of options are based on a predetermined range more or less than a value of one or more of the input conditions. ### Claim 9 (depends on 2) The system of claim 2, wherein the input conditions include one or more of max velocity, max acceleration, error margin, velocity limit for each axis, torque limit for each axis, and servo response for each axis. ### Claim 10 (depends on 9) The system of claim 9, wherein the input conditions include max jerk. ### Claim 11 (depends on 9) The system of claim 9, wherein the input conditions include jerk limit for each axis. ### Claim 12 A method for path command generation, comprising: calculating, via processing circuitry, an optimum path command; simulating, via the processing circuitry, the optimum path command based on the calculation of the optimum path command; calculating, via the processing circuitry, a cycle time and error of the path command; determining if the path command is selected; and transmitting path command data to an industrial machine in response to the selected path command being selected. ### Claim 13 (depends on 12) The method of claim 12, wherein the processing circuitry is communicably coupled to an interface, wherein path command generation further comprises: receiving, via the interface, input conditions as parameters for calculating the optimum path command; displaying results of the simulation of the optimum path command via the interface; receiving a selection of the selected path command via the interface; receiving updated input conditions when no currently displayed path command is selected; and transmitting the path command data corresponding to the selected path command to be implemented at the industrial machine. ### Claim 14 (depends on 13) The method of claim 13, wherein the optimum path command corresponds to a series of destination points for one or more servo motors of the industrial machine. ### Claim 15 (depends on 14) The method of claim 14, wherein the series of destination points are a set of coordinates based on predetermined shape data, wherein the interface is displayed based on the predetermined shape data. ### Claim 16 (depends on 15) The method of claim 15, wherein the optimum path command includes moving the one or more servo motors between destination points, wherein the time it takes to move the one or more servo motors between the destination points is the same amount of time for every destination point. ### Claim 17 (depends on 15) The method of claim 15, wherein the destination points correspond to X-Y coordinates. ### Claim 18 An interface accessible via a remote device, comprising: processing circuitry configured to receive input conditions via the interface, display results of a simulation of the optimum path command via the interface, receive a selection of an selected path command via the interface, receive updated input conditions when no currently displayed path command is selected, and transmit path command data corresponding to the selected path command to an industrial machine. ### Claim 19 (depends on 18) The interface of claim 18, wherein the industrial machine includes one or more servo motors, wherein the optimum path command corresponds to a series of destination points for the one or more servo motors, wherein the series of destination points are a set of coordinates based on predetermined shape data, wherein the interface is displayed based on the predetermined shape data. ### Claim 20 (depends on 19) The interface of claim 19, wherein the optimum path command includes moving the one or more servo motors between destination points, wherein the time it takes to move the servo motors between the destination points is the same amount of time for every destination point, wherein the destination points correspond to X-Y coordinates. ### Claim 21 (depends on 18) The interface of claim 18, wherein the results of the simulation displayed via the interface can includes a plurality of options, wherein the plurality of options are based on a predetermined range more or less than a value of one or more of the input conditions. ### Claim 22 (depends on 21) The interface of claim 21, wherein the input conditions include max velocity, max acceleration, error margin, velocity limit for each axis, torque limit for each axis, and servo response for each axis. ### Claim 23 (depends on 22) The interface of claim 22, wherein the input conditions include max jerk. ### Claim 24 (depends on 22) The interface of claim 22, wherein the input conditions include jerk limit for each axis. ### Claim 25 A system, comprising: processing circuitry configured to calculate one or more first output conditions based on values of two or more input parameters, calculate one or more second output conditions based on alternative values of the two or more input parameters, determine which of at least one of the one or more first output conditions or the one or more second output conditions is selected, an output condition being selected based on the calculating of the one or more first output conditions and one or more second output conditions for each set of input parameters, and transmit command data to an industrial machine, the command data corresponding to a path command implemented by the industrial machine, the command data being based on the selected output condition. ### Claim 26 An interface, comprising: processing circuitry configured to calculate one or more first output conditions based on values of two or more input parameters, calculate one or more second output conditions based on alternative values of the two or more input parameters, determine which of at least one of the one or more first output conditions and the one or more second output conditions is selected, an output condition being selected based on the calculating of the one or more first output conditions and one or more second output conditions for each set of input parameters, and transmit command data to an industrial machine, the command data corresponding to a path command implemented by the industrial machine, the command data being based on the selected output condition. ### Claim 27 A method, comprising: calculating, via processing circuitry, one or more first output conditions based on values of two or more input parameters, calculating, via the processing circuitry, one or more second output conditions based on alternative values of the two or more input parameters, determining, via the processing circuitry, which of at least one of the one or more first output conditions and the one or more second output conditions is selected, an output condition being selected based on the results of calculating the one or more first output conditions and one or more second output conditions for each set of input parameters, and transmitting, via the processing circuitry, command data to an industrial machine, the command data corresponding to a path command implemented by the industrial machine, the command data being based on the selected output condition.