Interpolated motion control over a serial network
OwnerJoe Giamona, Larry Kolerinventors
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Abstract
The invention provides a system for controlling motion in machine tools, industrial robots, and motion stages over a computer serial port. From a process or listing of coordinate data points which define the path of two (or more) servo axes, a computer outputs serial port data to distributed Control Modules which regulate an analog torque or velocity command signal to control each axes' servo drive in a manner that implements a precisely interpolated tool path. A digital I/O link is utilized to synchronize the initial serial port data stream and to compensate for the drift of the individual processor clocks within the separate Control Modules, thereby eliminating the need for network determinism and also reducing hardware costs.
Claims22
A method for using a computer for controlling the interpolated motion of automated machine tools, industrial robots, and other motion control systems having a plurality of axes, over a non deterministic serial network, comprising:
- A. inputting into a computer a Master Control Program;
- B. specifying coordinate data points which define a path of at least two Motor means axes;
- inputting into the computer and Master Control Program the specified coordinate data points;
- C. executing the Master Control Program and generating from the Master Control Program a control set point data stream;
- outputting from the computer and Master Control Program the control set point data stream to one or a plurality of control modules (5);
- D. outputting from the one or a plurality of control modules one or a plurality of motor means control signal means to one or a plurality of motor means.
13A. A method in accordance with claim 12 wherein there is means for controlling synchronized, interpolated motion across a distributed motion system without requiring specialized servo and step motor drive hardware.
Dependencies are inferred from the claim text.