WO2002065219A3 - A system for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control - Google Patents

A system for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control Download PDF

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Publication number
WO2002065219A3
WO2002065219A3 PCT/US2002/003850 US0203850W WO02065219A3 WO 2002065219 A3 WO2002065219 A3 WO 2002065219A3 US 0203850 W US0203850 W US 0203850W WO 02065219 A3 WO02065219 A3 WO 02065219A3
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WO
WIPO (PCT)
Prior art keywords
central controller
motion control
node
nodes
propagation delay
Prior art date
Application number
PCT/US2002/003850
Other languages
French (fr)
Other versions
WO2002065219A2 (en
Inventor
Robert Pearce
David Cline
Original Assignee
Motion Engineering Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Motion Engineering Inc filed Critical Motion Engineering Inc
Priority to EP02720943A priority Critical patent/EP1379957B1/en
Priority to KR10-2003-7010454A priority patent/KR20030086997A/en
Priority to AU2002251909A priority patent/AU2002251909A1/en
Priority to DE60227495T priority patent/DE60227495D1/en
Publication of WO2002065219A2 publication Critical patent/WO2002065219A2/en
Publication of WO2002065219A3 publication Critical patent/WO2002065219A3/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/403—Bus networks with centralised control, e.g. polling
    • H04L12/4035—Bus networks with centralised control, e.g. polling in which slots of a TDMA packet structure are assigned based on a contention resolution carried out at a master unit
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/407—Bus networks with decentralised control
    • H04L12/417—Bus networks with decentralised control with deterministic access, e.g. token passing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/42—Loop networks
    • H04L12/422—Synchronisation for ring networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/42—Loop networks
    • H04L12/423—Loop networks with centralised control, e.g. polling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/062—Synchronisation of signals having the same nominal but fluctuating bit rates, e.g. using buffers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/4026—Bus for use in automation systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H04L7/04—Speed or phase control by synchronisation signals
    • H04L7/08—Speed or phase control by synchronisation signals the synchronisation signals recurring cyclically

Abstract

A motion control system ane method that includes a central controller configured to generate first and second demand control signals to be used to define actuation motion of respective first and second actuators. The central controller is in communication with first and second nodes by way of a data network, each node including at least a respective actuator configured to implement at an actuator time a motion or force-related effort based upon the respective demand control signal. Each node also includes a memory configured to store at least one respective propagation delay parameter related to a signal propagation delay between the central controller and the node. A timing mechanism establishes timing at each node based on the respectie propagation delay parameters so that the actuator time at the nodes occur simultaneously. Strict cycle and/or full-duplex high-speed communication can be supported. The network can be wired in a ring or as a tree and with twisted pair cabling or fiber. The central controller can also provide a timing message that is used by the nodes, in conjunction with local delay correction circuitry, so that the simultaneous acquisition of data and the simultaneous implementation of controlled action occur.
PCT/US2002/003850 2001-02-09 2002-02-11 A system for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control WO2002065219A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP02720943A EP1379957B1 (en) 2001-02-09 2002-02-11 A system for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control
KR10-2003-7010454A KR20030086997A (en) 2001-02-09 2002-02-11 A system for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control
AU2002251909A AU2002251909A1 (en) 2001-02-09 2002-02-11 A system for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control
DE60227495T DE60227495D1 (en) 2001-02-09 2002-02-11 MOTOR CONTROL SYSTEM, METHOD OF USING THE MOTOR CONTROL SYSTEM AND COMPUTER READABLE INSTRUCTIONS FOR USE WITH THE MOTION CONTROL SYSTEM

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/779,834 US7024257B2 (en) 2001-02-09 2001-02-09 System for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control
US09/779,834 2001-02-09

Publications (2)

Publication Number Publication Date
WO2002065219A2 WO2002065219A2 (en) 2002-08-22
WO2002065219A3 true WO2002065219A3 (en) 2003-11-20

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PCT/US2002/003850 WO2002065219A2 (en) 2001-02-09 2002-02-11 A system for motion control, method of using the system for motion control, and computer-readable instructions for use with the system for motion control

Country Status (8)

Country Link
US (5) US7024257B2 (en)
EP (1) EP1379957B1 (en)
JP (1) JP3588336B2 (en)
KR (3) KR20090009936A (en)
AT (1) ATE400944T1 (en)
AU (1) AU2002251909A1 (en)
DE (1) DE60227495D1 (en)
WO (1) WO2002065219A2 (en)

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