# US 6,242,877 B1 · Control system and method for cycle-based processes

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- Number: US 6,242,877 B1
- Document ID: US6242877B1
- Status: Granted
- Kind: B1
- Application number: 09/383,035
- Filed: 1999-08-25
- Granted: 2001-06-05
- Earliest claimed: 1995-09-01
- Assignees: The Vision Limited Partnership
- Inventors: Jere F. Irwin; Gary A. Curry; Marian J. Fisk; Andrew Roy; David L. Roberts; Stephanie L. Roberts; Todd W. Rudberg
- Web page: https://patentgrep.com/patent/US6242877B1

## CPC

- G05B 19/416: characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence)
- G05B 2219/36171: Edit velocity, motion profile, graphic plot of speed as function of time, position
- G05B 2219/43176: Scale velocity profile
- G05B 2219/45047: Sorting
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

An apparatus for controlling operation of a processing machine has a computer preferably with a computer aided design program configurable to model a kinematic velocity profile of a point of interest on a machine to be controlled. A graphical user interface on the computer enables an operator to select desired velocity points for a motor drive controlling motion of the point on the machine. A curve fit is applied to the velocity points to realize a desired velocity profile for the motor drive and the point on the machine. The desired velocity profile is then integrated and scaled in order to obtain a scaled velocity profile that realizes an actual, or target displacement of the point as dictated by operation of the machine. By controlling operation of elements of a machine with velocity profiles, coordination of associated elements and points on the machine can be visualized by an operator selecting the velocity points for each drive of the machine. A method for implementing same is also disclosed.

## Claims

### Claim 1

A machine control apparatus, comprising:
processing circuitry;
a user interface communicating with the processing circuitry and configured to receive user input commands defining at least in part a desired velocity versus time profile of a point of interest on a machine;
a data storage device configured to store user input commands and a target displacement value for the moving point of interest, the target displacement value associated with an actual physical displacement of the point of interest on the machine;
an integrator communicating with the processing circuitry and configured to integrate the desired velocity versus time profile and derive a displacement value for the moving point of interest;
a comparator communicating with the processing circuitry and configured to compare the target displacement value with the derived displacement value for the point of interest; and
the comparator configured to output a scaling factor calculated by the processing circuitry and operative to scale the velocity profile to realize the target displacement value as integrated over a time domain of interest.

### Claim 2 (depends on 1)

The machine control system of claim 1 wherein the data storage device is configured to store at least one previously constructed velocity versus time profile, and wherein the velocity versus time profile comprises user inputs.

### Claim 3 (depends on 1)

The machine control apparatus of claim 1 wherein the data storage device is further configured to store configuration settings for at least one input/output device.

### Claim 4 (depends on 1)

The machine control apparatus of claim 1 wherein the data storage device is further configured to store setup values on the machine.

### Claim 5

A method for controlling a processing machine, comprising:
providing a working element of the processing machine and a motor drive configured to move the working element;
characterizing a desired velocity profile for a desired point on the working element corresponding to operation of the motor drive;
integrating the characterized velocity profile over a desired period of time to characterize a derived displacement value;
providing a target displacement value for the desired point;
comparing the target displacement value with the derived displacement value to obtain a scaling coefficient sized to scale the derived displacement to realize the target displacement; and
scaling the desired velocity profile such that, when integrated, the velocity profile provides the actual displacement for the working element.

### Claim 6 (depends on 5)

The method of claim 5 further comprising storing the desired velocity profile in the memory.

### Claim 7 (depends on 5)

The method of claim 5 wherein scaling the desired velocity profile comprises applying a scaling factor to the desired velocity profile such that, when integrated, the velocity profile provides the actual displacement.