Independent cart system and method of operating the same
AssigneeRockwell Automation Technologies, Inc.
InventorsMark R. Cooper, David D. Van Dorpe, Patrick E. Ozimek, Shankernarayan Ramanarayanan
Life of this patent
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Abstract
A method and system for motion control of movers in an independent cart system is disclosed. In one implementation, the independent cart system includes a plurality of track segments, each section having a respective controller. One of the controllers receives a motion command for a plurality of carts, respectively. The controller generates a force command for each of the plurality of carts and transmits the respective commands to the track segments commutating the plurality of carts.
Claims20
A method of controlling operation of a plurality of movers in an independent cart system, the independent cart system including a track having a plurality of track segments, the method comprising the steps of:
- obtaining at a first controller a motion command for a first mover;
- receiving at the first controller from a segment controller for one of the plurality of track segments a position feedback signal corresponding to a location for the first mover along the track segment corresponding to the segment controller, wherein the first controller is not located along the track segment on which the first mover is present;
- determining at the first controller a force command for the first mover based on the motion command and the position feedback signal;
- transmitting the force command from the first controller to the segment controller;
- and
- controlling with the segment controller an excitation field to interact with a drive member mounted on the mover based on the force command.
An independent cart system, comprising:
- a track having a plurality of track segments, wherein each track segment includes:
- a plurality of drive coils, and
- a segment controller configured to selectively control the plurality of drive coils to generate an excitation field along the corresponding track segment;
- a plurality of movers, wherein each mover includes a drive member configured to interact with the excitation field;
- a position feedback system configured to generate a plurality of position feedback signals, each position feedback signal corresponding to a location of a first mover, selected from the plurality of movers;
- and
- a first controller configured to:
- obtain a motion command for the first mover,
- receive from the segment controller for each of the plurality of track segments the position feedback signal corresponding to a location of the first mover as the first mover travels along the track,
- determine a force command for each of the plurality of track segments on which the first mover is presently located, and
- transmit the force command for the first mover to the segment controller from which the first controller received the position feedback signal.
An independent cart system, comprising:
- a track having at least a first track segment and a second track segment, wherein:
- the first track segment includes a first plurality of drive coils and a first segment controller,
- the first segment controller is configured to selectively control the first plurality of drive coils to generate a first excitation field along the first track segment,
- the second track segment includes a second plurality of drive coils and a second segment controller, and
- the second segment controller is configured to selectively control the second plurality of drive coils to generate a second excitation field along the second track segment;
- and
- a plurality of movers, wherein:
- each mover includes a drive member configured to interact with the first and second excitation fields,
- the first segment controller is further configured to:
- (a) receive a position feedback signal for a first mover, where the first mover is one of the plurality of movers not present on the first track segment,
- (b) receive a motion command for the first mover, and
- (c) determine a force command for the first mover, and
- the second segment controller is further configured to:
- (d) receive a position feedback signal for a second mover, where the second mover is one of the plurality of movers not present on the second track segment,
- (e) receive a motion command for the second mover, and
- (f) determine a force command for the second mover.
Dependencies are inferred from the claim text.