Method and apparatus for asynchronous multi-axis servo path planning
AssigneeAllen-Bradley Company, Inc.
InventorBradley R. Boyer
Life of this patent
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Abstract
A motion controller includes an input for receiving data corresponding to moves in a cycle of a multi-axis machine. The controller controls electric motors of the machine in accordance with positions set forth in a path planning table. The path planning table is generated from the data by applying a curve defining equation and integrating an alpha variable therein. The alpha variable corresponds to a velocity to acceleration ratio and is adjustable to allow the calculation of a new path planning table having a velocity and acceleration profile shifted from an initial velocity and acceleration profile to allow for optimization of motor performance. A method of path planning having user tunable parameters is also provided.
Claims18
Method of multi-axis path planning in a motion control system having an input device for receiving data, a motion controller operatively connected to the input device for executing a path planning table based on said data to generate commands to control electric motors of a multi-axis machine operatively connected therewith, the method comprising the steps of:
- inputting data corresponding to a series of successive moves in a cycle of the multi-axis machine;
- setting an alpha variable to a predetermined value, the alpha variable corresponding to a velocity to acceleration ratio;
- generating said path planning table from said data to determine calculated positions defining a path of the cycle by applying a curve defining equation and integrating the alpha variable into said curve defining equation, said path having an initial velocity and acceleration profile;
- determining a rate of speed for traversing along the path planning table during machine operation;
- determining motor performance during machine operation;
- modifying the alpha variable in response to the motor performance and generating a new path planning table having a velocity and acceleration profile shifted from said initial velocity and acceleration profile.
Method of multi-axis path planning having tunable parameters in a motion control system having an input device for receiving data, a motion controller operatively connected to the input device for executing a path planning table based on said data to generate commands to control electric motors of a multi-axis machine operatively connected therewith, the method comprising the steps of:
- inputting data corresponding to a series of successive moves in a cycle of the multi-axis machine;
- setting an alpha and beta variable to a predetermined value, the alpha variable corresponding to a velocity to acceleration ratio, the beta variable corresponding to an acceleration to deceleration ratio;
- generating a path planning table from said data to determine calculated positions defining a path of the cycle by applying a curve defining equation and integrating the alpha and beta variables into said curve defining equation, said path having an initial velocity and acceleration profile;
- determining motor performance during machine operation;
- modifying the alpha and beta variables in response to the motor performance and generating a new path planning table having a velocity and acceleration profile shifted from said initial velocity and acceleration profile to provide improved motor performance.
A motion controller for providing multi-axis control of electric motors of a multi-axis machine, the controller comprising:
- input means for receiving data corresponding to a cycle of the multi-axis machine;
- control means operatively connected with said input means for controlling the motors of the machine in accordance with calculated positions along a path set forth in a path planning table, said control means having a processor and memory means for storing said path planning table;
- means for generating the path planning table with said processor by calculating said path planning table from said data to determine calculated positions defining a path of the cycle by iteratively applying a curve defining equation and integrating an alpha variable therein, the alpha variable corresponding to a velocity to acceleration ratio, said path have an initial velocity and acceleration profile, the alpha variable being adjustable to allow recalculating of a new path planning table having a velocity and acceleration profile shifted from said initial velocity and acceleration profile.
Dependencies are inferred from the claim text.