Scalable motion control system

A method of verifying the integrity of data transmitted over a control system network comprising:

• storing operating parameters at a node on the control system network;
• and
• verifying that commands received through the control system 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 periodic message is not received within a time period.

A method of maintaining 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, where zone to zone integrity signals are shared between the zones;
• and
• controlling the zones, based on the zone to zone integrity signals, so that a disruptive event disruptive of an operation of the first zone does not effect disruption of another operation of zones other than the first zone.