Multi-mover linear motor controller providing shared coordination subsystem
AssigneeRockwell Automation Technologies, Inc.
InventorsJatin Bhatt, Bohumir Sladek, Bhanu Gouda, Jesse Dunham
Life of this patent
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Abstract
A runtime coordination subsystem allows programmers of multi-mover, linear motion systems to provide simple commands to the movers without concern for the presence of other movers on the track. The runtime coordination subsystem manages proper separation distances to prevent collisions and automatically queue movers in contention situations. In addition the runtime coordination subsystem permits a specialized multi-mover command controlling movers in unison with constant separation.
Claims16
A control system for a multi-mover, linear motor system providing multiple movers movable along a path on a track, each mover providing magnetic pole elements interacting with electrical coils distributed along the track for movement of the mover along the track as the electrical coils are activated in response to track signals, the control system comprising:
- I/O circuits adapted to communicate with the track to provide track signals to the track;
- a controller circuit communicating with the I/O circuits and operating to:
- (a) receive and execute an industrial control program generating command movement signals for at least two movers on a track describing a desired position of each mover on the track;
- (b) execute a coordination subsystem separate from the received industrial control program and convert the desired position of at least one mover on the track to coordinated movement signals which change the command movement signals according to current relative positions of at least one other mover;
- and
- (c) communicate the coordinated movement signals to the I/O circuits for outputting as track control signals.
A control system for a multi-mover, linear motor system providing multiple movers movable along a path on a track, each mover providing magnetic pole elements interacting with electrical coils distributed along the track for movement of the mover along the track as the electrical coils are activated in response to track signals, the control system comprising:
- I/O circuits adapted to communicate with the track to provide track signals to the track;
- and
- a controller circuit including a control program execution means and a coordination subsystem means and communicating with the I/O circuits and operating to:
- (a) execute an industrial control program using the control program execution means to generate command movement signals for at least two movers on a track describing a desired position of each mover on the track;
- (b) convert the command movement signals for at least one mover to coordinate movement signals, using the coordination subsystem means, the conversion changing the command movement signals according to current relative positions of at least one other mover, and
- (c) communicate the coordinated movement signals to the I/O circuits for outputting as track control signals.
A method of controlling a multi-mover, linear motor system providing multiple movers movable along a path on a track, each mover providing magnetic pole elements interacting with electrical coils distributed along the track for movement of the mover along the track as the electrical coils are activated in response to track signals, the method including:
- (a) preparing an industrial control program generating command movement signals for at least two movers on the track, the command movement signals describing a desired position of each movement on the track independent of collision between the movers;
- (b) installing the industrial control program on a control system including I/O circuits adapted to communicate with the track to provide track signals to the track;
- (c) execute the industrial control program contemporaneously with operation of a coordination subsystem on the control system and separate from the received industrial control programs to convert the desired position of at least one mover on the track to coordinated movement signals which change the command movement signals according to current relative positions of at least one other mover;
- and
- (c) communicate the coordinated movement signals to the I/O circuits.
Dependencies are inferred from the claim text.