Control method for synchronous high speed motion stop for multi-top loaders across controllers

A control method for a series of multi-top loaders residing on “n” controllers on one rail, comprising the steps of:

• a. an unanticipated event occurring at least two robots associated with a first controller;
• b. posting of an error resulting from the event at a current interpolate loop time of the at least two robots;
• c. starting a motion control system to perform a high speed stop within the same interpolate loop time of the at least two robots;
• d. the motion control system sending a control signal via a hardwired robot digital output to an immediate trailing controller;
• and
• e. the control signal triggering an over travel circuit of the trailing controller.

A synchronous high-speed motion stop apparatus comprising:

• at least two multi-top loaders;
• a controller associated with each of said multi-top loaders;
• a single rail supporting said multi-top loaders in series along said rail;
• and
• said controllers configured for performing a cascading high speed stop of said multi-top loaders on said rail, wherein said cascading high speed stop comprises the steps of:
• a. an unanticipated event occurring at one of said at least two multi-top loaders;
• b. posting of an error resulting from the event at a current interpolate loop time of said one multi-top loader;
• c. starting a motion control system to perform a high speed stop within the same interpolate loop time of the one multi-top loader;
• d. the motion control system sending a control signal via a hardwired robot digital output to an immediate trailing one of the controllers;
• and
• e. the control signal triggering the over travel circuit of the trailing controller.