Actuator with electric motor and motor controller

A computer program product comprising a non-transitory computer readable medium having stored therein computer program code which directs a processor of an actuator (1, 1M, 1S, 1S′) to:

• control the actuator (1, 1M, 1S, 1S′) to be switchably configurable by being dynamically and automatically set between being a master or a slave to another actuator (1, 1M, 1S, 1S′) which is coupled mechanically to the actuator (1, 1M, 1S, 1S′) for driving a common load (L),
• whereby, for the case where the actuator (1M) is dynamically and automatically set as the master, the processor receives on an input terminal (Y3) of the actuator (1M) an external position control signal (pC), generates based on the position control signal (pC) a motor control signal (sC), controls a motor (12) of the actuator (1M) by supplying the motor control signal (sC) to the motor (12), and controls the slave by supplying the motor control signal (sC) to an output terminal (U5) of the actuator (1M);
• and
• whereby, for the case where the actuator (1, 1S, 1S′) is dynamically and automatically set as the slave, the processor receives on the input terminal (Y3) the motor control signal (sC) supplied by the master, and controls the motor (12) by supplying the motor control signal (sC) from the master to the motor (12),
• wherein the motor controller (11) is further configured to measure, at start-up time, voltage levels at the input terminal (Y3), and to set the actuator (1S, 1S′) as a slave depending on the voltage levels measured at the input terminal (Y3), and
• wherein the motor controller (11) is further configured to reduce the impedance of the input terminal (Y3), to detect at the output terminal (U5) a voltage reduction caused by a lowered impedance of another actuator (1S, 1S′) connected to the output terminal (U5), and to set the actuator (1M) as the master upon detecting the voltage reduction at the output terminal (U5).

A method for operating an actuator (1, 1M, 1S, 1S′) which comprises an electric motor (12) and a motor controller (11), the method comprising:

• controlling the actuator (1, 1M, 1S, 1S′) to be switchably configurable by being dynamically and automatically set between being a master or a slave to another actuator (1, 1M, 1S, 1S′) which is coupled mechanically to the actuator (1, 1M, 1S, 1S′) for driving a common load (L);
• whereby, for the case where the actuator (1M) is dynamically and automatically set as the master:
• receiving on an input terminal (Y3) of the actuator (1M) an external position control signal (pC),
• generating based on the position control signal (pC) a motor control signal (sC),
• controlling a motor (12) of the actuator (1M) by supplying the motor control signal (sC) to the motor (12), and
• controlling the slave by supplying the motor control signal (sC) to an output terminal (U5) of the actuator (1M);
• and
• whereby, for the case where the actuator (1, 1S, 1S′) is dynamically and automatically set as the slave:
• receiving on the input terminal (Y3) the motor control signal (sC) supplied by the master, and
• controlling the motor (12) by supplying the motor control signal (sC) from the master to the motor (12),
• wherein the motor controller (11) is further configured to measure, at start-up time, voltage levels at the input terminal (Y3), and to set the actuator (1S, 1S′) as a slave depending on the voltage levels measured at the input terminal (Y3), and
• wherein the motor controller (11) is further configured to reduce the impedance of the input terminal (Y3), to detect at the output terminal (U5) a voltage reduction caused by a lowered impedance of another actuator (1S, 1S′) connected to the output terminal (U5), and to set the actuator (1M) as the master upon detecting the voltage reduction at the output terminal (U5).