Controlled reciprocating machine and method

A coating system, comprising:

• a movable arm;
• at least one coating applicator coupled with respect to the movable arm;
• a first actuator for providing motion to the movable arm;
• a computer controller for controlling the first actuator, wherein the computer controller includes a processor, and the computer controller is operatively coupled to the first actuator;
• a first data representing at least one of stroke length, stroke center point, and stroke speed of the movable arm;
• and
• a computer program executed by the processor to cause the computer controller to dynamically command the first actuator to change at least one of stroke length, stroke center point, and stroke speed of the movable arm based on the first data.

A method for controlling a movable arm of a coating device, comprising the steps of:

• entering a first data into a computer controller, the first data representing at least one of stroke length, stroke center point, and stroke speed of the movable arm;
• generating a motion profile based on the first data;
• providing a position feedback indicative of the position of the movable arm;
• producing a torque reference based on the motion profile and the position of the movable arm;
• sending the torque reference to an actuator to provide motion to the movable arm;
• and
• regulating the torque reference delivered to the actuator to dynamically move the movable arm to change at least one of stroke length, stroke center point, and stroke speed of the movable arm based on the first data.