Scalable motion control system
AssigneeBrooks Automation, Inc.
InventorsMartin Hosek, Stuart Beale, Roumen Botev, Matthew Coady, Christopher Hofmeister, Mark Ives, Jairo Moura, Robert Caveney
Life of this patent
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Abstract
A control system includes a clustered architecture having a master controller, a central control section including one or more first remote controllers under direct control of the master controller, and a distributed control section including a cluster controller controlled by the master controller. The cluster controller controls the activities of one or more second remote controllers. Each of the first and second remote controllers are utilized to drive one or more axes.
Claims22
A method for controlling an axis of a control system comprising:
- calculating an operating parameter value defining a force value of an end effector of an axis in a first mode of axis operation that is different than a corresponding force value of the end effector in a second mode of axis operation;
- generating a motion profile for an individual joint of the axis such that a motion profile for the end effector does not exceed the force value of the end effector in the first mode of axis operation.
A method for controlling an axis comprising:
- calculating, with a controller, a velocity and a torque for a position of the axis;
- calculating, with the controller, a predetermined first maximum time period during which an axis velocity may exceed the calculated velocity;
- calculating, with the controller, a predetermined second maximum time period during which an axis torque may exceed the calculated torque;
- disabling, with the controller, the axis if one or more of the first and second maximum time period is exceeded.
A method of bringing an axis to a controlled stop comprising:
- determining if power has been lost to a system including the axis;
- setting a predetermined time period applying a mode of operation of the axis and applying a trajectory to the axis that brings the axis to a zero velocity within the predetermined time period where motion of the axis along the trajectory is coordinated with motion of another axis;
- and
- removing power from the axis at an end of the predetermined time period.
A method of verifying the integrity of data transmitted over a control system network comprising:
- storing operating parameters at a node on the network;
- and
- verifying that commands received through the network do not cause operations of the node that exceed the operating parameters.
A method of verifying the integrity of a control system network comprising:
- issuing a periodic message;
- and
- disabling one or more nodes of the control system network if the message is not received within a time period.
A method of maintaining the integrity of a control system network comprising:
- assigning nodes of the network into zones such that motion in a first zone is isolated from motion in zones other than the first zone;
- and
- controlling the zones so that events of the first zone do not effect the operation of zones other than the first zone.
Dependencies are inferred from the claim text.