Automation equipment control system

A control system suitable for controlling automation equipment of different electromechanical configurations, the control system comprising:

• an equipment-independent computer unit including a video display and a first digital processor for running an operator interface module for creating a move command;
• an equipment-specific controller unit operably linked to the automation equipment including a move module for executing said move command, said equipment-specific controller unit being in electronic communication with said equipment-independent computer unit;
• a configuration variable for storing data specifying the electromechanical configuration of the automation equipment;
• a first code segment for generating a first operator display according to a first electromechanical configuration;
• a second code segment for generating a second operator display according to a second electromechanical configuration;
• and
• a third code segment for selecting said first or second code segment according to said electromechanical configuration.

An operator interface module for controlling automation equipment of different electromechanical configurations, the operator interface module comprising:

• a first code segment for generating a first operator display according to a first electromechanical configuration;
• a second code segment for generating a second operator display according to a second electromechanical configuration;
• and
• a third segment for selecting said first or second code segment according to said electromechanical configuration.

An automated manipulation system for executing a program of instructions, the system comprising:

• a manipulator having a mechanical joint, an actuator to move said joint and a position sensor, said actuator for receiving an activation signal and said position sensor providing a position signal,
• a general purpose computer with a general purpose operating system, said general purpose computer including a program execution module to selectively start and stop processing of the program of instructions and to generate a plurality of move commands;
• and
• a real-time computer subsystem in electronic communication with said general purpose computer and operably linked to the mechanical actuator and the position sensor, the real-time computer subsystem including a move command data buffer for storing said plurality of move commands, a move module linked to said data buffer to sequentially process said plurality of move commands and calculate a required position for the mechanical joint.

A control system for automation equipment having a mechanical joint, a mechanical actuator to move the joint, the mechanical actuator for receiving an activation signal, the control system comprising:

• a general purpose computer with a general purpose operating system for providing an operator interface, said general purpose computer including a plurality of software processes;
• a real-time computer subsystem in electronic communication with said general purpose computer and operably linked to the mechanical actuator, the real-time computer subsystem including a code segment algorithm for resetting said activation signal;
• and
• a watchdog intercommunication between said real-time computer subsystem and said general purpose computer for detecting faults in operation of said general purpose computer.

A control system for automation equipment having a mechanical joint, a mechanical actuator to move the joint, the mechanical actuator for receiving an activation signal, the control system comprising:

• a general purpose computer with a general purpose operating system for providing an operator interface, said general purpose computer including a plurality of software processes;
• a real-time computer subsystem in electronic communication with said general purpose computer and operably linked to the mechanical actuator;
• and
• a watchdog intercommunication between said real-time computer subsystem and at least two of said plurality of software processes for detecting interruption of the execution of said software processes.