Control system to synchronize slave computers

Abstract

A multi-operation control system includes a plurality of slave computers each controlling its respective operation and forming at least one operating system. Each slave computer has a memory for storing a plurality of sequential movement instructions to be carried out by the slave and the micro-controller. Each slave computer monitors the operation it controls, compares the monitored operation with the current movement instruction and generates a flag signal if the monitored operation and current movement instruction differ by more than a preselected amount. This flag signal is transmitted to all of the slave computers of the operating system of which the slave computer is a part. The slave computers carry out their movement instructions in steps in working time increments. The step of movement to be carried out in a time increment is updated only when no flag signal is received by the slave computers, i.e. if any one of the slave computers generates a flag signal, the step of movement to be carried out in the time increment remains the same for all of the slave computers belonging to that operating system. The timing of all slave computers (working time increment) of a given operating system are synchronized by a coordinating computer that provides coordinating pulses to all of the slave computers in the operating system thereby to synchronize all slave computers of that operating system. A single master controller may be used to update the operating instructions in all of the slave computers including the coordinating computers in a plurality of operating systems. Flag signals may be generated and transmitted to the slaves of its operating system by other monitoring devices such as slaves computers that monitor technological achievements or economic results when a monitored parameter or set of actions traverse preselected limits.