Positional-based motion controller with a bias latch

US6107769A · kind A · utility

Assignee

• Schneider Automation Inc. · US

Inventors

• Michael J. Saylor · Vienna, US
• Nathan H. Pillsbury · Scarborough, US

Key dates

• Filing date: Dec 29, 1998
• Grant date: Aug 22, 2000
• Expiry date: Dec 29, 2018

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/50231
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A motion controller and a method of controlling the motion of a plurality of axes which prevents a discontinuous position command being generated to a follower axis. A follower mode transfer function circuit or routine generates a position command in response to a master axis position. This function can be in the form of electronic gearing or camming. A bias latch is utilized to offset any change in position resulting from a change in mode, such as changing from electronic gearing to electronic camming, changing cam profiles or gearing ratios, or changing the master axis. The latch is summed with the transfer function position command and a standard move command profile generator position command to provide the follower axis position command. The latch is recalculated each time the follower mode is changed. A halt command can be used to selectively block or enable an independent move command signal, allowing the follower axis to remain in motion when the follower mode is turned off (not following the master axis), or allowing the follower mode to be turned on while the follower axis is in motion without a sudden change in position. Trigger calculation circuitry is used to precalcul…