Rockwell Automation Technologies Incorporated

Allen-bradley Company, LLC

William C Schwarz

Jatin P Bhatt

Fabio Malaspina

Michael Piatka

Subbian Govindaraj

Jacob Strickler Baker

Bohumir Sladek

Bhanu K Gouda

Stephen L Steh

Slobodan Milosevic

David R Mowry

Juergen K Weinhofer

Jeffery William Brooks

Timothy Bielawski

James M Slagter

Jeffrey W Brooks

Paul S Kramer

Timothy W Werner

The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.

Blending algorithm for trajectory planning

The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion. In this manner, such instructions can provide smooth transitions from one coordinated move to the next.

Systems and methods for coordination motion instructions

The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them. The subject invention provides for connecting various systems together through respective motion instructions, wherein a motion of a source system is mapped to a coordinate system of a target system and the target system is moved accordingly.

Systems and methods that facilitate motion control through coordinate system transformations

A motion control system comprises control logic and a programming interface. The programming interface is configured to permit a user to specify a plurality of non-tangential path segments, and the control logic is configured to generate a plurality of additional connecting path segments substantially extending between and connecting the non-tangential path segments. The motion control system is configured to generate control signals to control operation of a plurality of motors to drive movement of a controlled element along a path defined by the non-tangential path segments and the additional connecting path segments.

Method and system for generating multi-dimensional motion profiles

A computer numerical control system for providing more efficient execution of part program blocks. The computer numerical control system selectively may be utilized in a synchronous mode in which the part program blocks are executed under control of a logic engine. This synchronous operation may be changed to an asynchronous operation, and vice versa, by providing a synchronization control parameter in the part program. Additionally, the system may be switched to an auto-synchronous mode in which part program block execution automatically is accomplished in either synchronous mode or asynchronous mode depending on the content of the data blocks being processed.

Programmable synchronous and asynchronous block execution for a computer numerical control

A system combines an open control interface workstation, e.g., a properly configured personal computer, with a networked computer numerical control. The personal computer and CNC are preferably linked to a local area network such as an Ethernet network. The open control interface is configured to utilize Windows DDE, or other protocol, to accomplish process-to-process communications with other DDE-compliant Windows applications. Additionally, the open control interface is designed to allow DDE-compliant Windows applications to communicate with one or more networked computer numerical controls while minimizing data flow over the network.

System and method for networking a computer numerical control with a

A numerical controller accepts an instruction for the cutting of pockets with perimeters of irregular shapes, the instruction defining the perimeter by a series of vertex points and a straight-line, circular, or some other interpolation to move between these vertices. The numerical controller cuts the perimeter of the pocket by reference to the vertex points and constructs a bit map indicating the cut and uncut material after completion of the perimeter. A rule-based path generator employs the bit map to complete the interior of the pocket without explicit programming of those interior tool motions. The bit map is constructed on a real-time basis by offsetting the tool motion coordinates to roll over in the bit map space regardless of the tool starting position.

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Shaker Heights, OH, United States of America

William C Schwarz