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1. 发明申请

US20120260002A1 Output Module For An Industrial Controller 有权
标题翻译：工业控制器的输出模块
公开(公告)号：US20120260002A1
公开(公告)日：2012-10-11
申请号：US13443623
申请日：2012-04-10
申请人： Bret S. Hildebran , Eric D. Decker , Dave A. Pasela , Duwayne D. Mulhall , John J. Kolat , Antoon Laane , Russell W. Brandes , Peter M. Delic , Charmaine J. Van Minnen , Anthony Sorbello , Robert J. Kretschmann , Kenwood Hall , Richard O. Ruggeri , Harsh Shah , Andreas P. Frischknecht , Anthony G. Gibart , Mark A. Chaffee , Scott A. Pierce , Gregg Sichner , Terence S. Tenorio , Gregory J. Svetina
发明人： Bret S. Hildebran , Eric D. Decker , Dave A. Pasela , Duwayne D. Mulhall , John J. Kolat , Antoon Laane , Russell W. Brandes , Peter M. Delic , Charmaine J. Van Minnen , Anthony Sorbello , Robert J. Kretschmann , Kenwood Hall , Richard O. Ruggeri , Harsh Shah , Andreas P. Frischknecht , Anthony G. Gibart , Mark A. Chaffee , Scott A. Pierce , Gregg Sichner , Terence S. Tenorio , Gregory J. Svetina
IPC分类号： G06F3/00
CPC分类号： G05B15/02 , G05B11/01 , G05B19/0423 , G05B19/0426 , G05B19/056 , G05B19/4148 , G05B23/0205 , G05B2219/1196 , G05B2219/21012 , G05B2219/21021 , G05B2219/24015 , G05B2219/33105 , G05B2219/33333 , G05B2219/33338 , G05B2219/34401 , G06F13/124
摘要： An output module for an industrial controller configurable to simplify setup and commissioning is disclosed. The output module includes configurable PWM outputs that may be scheduled to start at different times within the PWM period, that may be configured to generate a fixed number of PWM pulses, and that may have an extendable PWM period. The output terminals are configurable to enter a first state upon generation of a fault and further configurable to enter a second state after a configurable time delay following the fault being generated. The output module may receive inputs signals directly from another module and set output signals at the terminals responsive to these signals.
摘要翻译：公开了一种用于工业控制器的输出模块，可配置为简化设置和调试。输出模块包括可配置的PWM输出，其可被调度为在PWM周期内的不同时间开始，其可被配置为产生固定数量的PWM脉冲，并且可以具有可延伸的PWM周期。输出端子可配置成在产生故障时进入第一状态，并进一步配置为在产生故障之后的可配置的时间延迟之后进入第二状态。输出模块可以直接从另一个模块接收输入信号，并根据这些信号在端子处设置输出信号。

2. 发明授权

US07983769B2 Time stamped motion control network protocol that enables balanced single cycle timing and utilization of dynamic data structures 有权
标题翻译：时间戳运动控制网络协议，实现动态数据结构的平衡单周期定时和利用
公开(公告)号：US07983769B2
公开(公告)日：2011-07-19
申请号：US11241539
申请日：2005-09-30
申请人： Mark A. Chaffee , Kendal R. Harris , John M. Keller , Juergen K. Weinhofer , Donald A. Westman
发明人： Mark A. Chaffee , Kendal R. Harris , John M. Keller , Juergen K. Weinhofer , Donald A. Westman
IPC分类号： G05B13/02 , G05B19/18 , G05B19/42 , G06F19/00 , G06F17/50
CPC分类号： G05B19/4185 , G05B19/0423 , G05B19/408 , G05B2219/25472 , G05B2219/33273 , G05B2219/34208 , G05B2219/34413 , H04J3/0664 , H04J3/067 , Y02P90/18
摘要： A system that enables controlling motion over a network comprises an interface that receives motion control data that includes a time stamp from the network. Additionally, the system includes a motion control component that utilizes the received motion control data to update properties associated with the motion control component based at least in part on the time stamp. The system can also include a clock that is synchronized with disparate clocks associated with disparate motion control components located on the network.
摘要翻译：能够控制网络运动的系统包括接收包括来自网络的时间戳的运动控制数据的接口。另外，该系统包括运动控制部件，其利用所接收的运动控制数据来至少部分地基于时间戳来更新与运动控制部件相关联的属性。该系统还可以包括与位于网络上的不同运动控制组件相关联的不同时钟同步的时钟。

3. 发明授权

US5392207A Programmable motion controller with graphical programming aid 失效
标题翻译：具有图形编程辅助功能的可编程运动控制器
公开(公告)号：US5392207A
公开(公告)日：1995-02-21
申请号：US109783
申请日：1993-08-20
申请人： Gregory S. Wilson , David E. Halpert , Mark A. Chaffee
发明人： Gregory S. Wilson , David E. Halpert , Mark A. Chaffee
IPC分类号： G05B19/4093 , G05B19/18 , G05B11/01
CPC分类号： G05B19/4093 , G05B2219/36025 , G05B2219/36036 , G05B2219/36056 , G05B2219/36076 , G05B2219/36143 , Y02P90/265 , Y10S715/967
摘要： A programming aid for troubleshooting real-time motion control programs controlling servo motors employs a graphical control language in which functionally related groups of instructions are represented by icons displayed on a programming terminal and interconnected by sequence lines to indicate the order of the instruction's execution. The programming terminal receives the address of the instructions being executed and identifies this address to a displayed icon to modify the icon thus indicating the internal operation of the program on a real time basis with little interruption of the control process.
摘要翻译：用于对控制伺服电机的实时运动控制程序进行故障诊断的编程辅助装置采用图形控制语言，其中功能相关的指令组由编程终端上显示的图标表示，并由顺序线互连，以指示指令的执行顺序。编程终端接收正在执行的指令的地址，并将该地址识别为显示的图标，以修改该图标，从而在几乎不中断控制过程的基础上实时地指示程序的内部操作。

4. 发明授权

US5391970A Motion controller with remote linking and time disturbance correction 失效
标题翻译：运动控制器，具有远程链接和时间干扰校正功能
公开(公告)号：US5391970A
公开(公告)日：1995-02-21
申请号：US129828
申请日：1993-09-30
申请人： Mark A. Chaffee , David E. Halpert
发明人： Mark A. Chaffee , David E. Halpert
IPC分类号： G05B19/414 , H02P6/04 , H02P5/00
CPC分类号： H02P6/04 , G05B19/4141 , G05B2219/33274 , G05B2219/34208 , G05B2219/34406 , G05B2219/42186 , G05B2219/50216
摘要： Multiple motion controllers for controlling servo motors are connected by a digital communications link so that controlled axes of the motion controllers may be slaved together regardless of their physical proximity. A given controller broadcasts position or command signals on the communications link in response to a request report message from any another controller. A second request report message may stop the broadcasting to conserve link capacity. Time shifting implicit in the link messages is corrected by estimating the velocity of the master axis and extrapolating the position to the local axes' time of updating.
摘要翻译：用于控制伺服电动机的多个运动控制器通过数字通信链路连接，使得运动控制器的受控轴可以被一起从动，而不管其物理接近度。响应于来自任何另一控制器的请求报告消息，给定的控制器在通信链路上广播位置或命令信号。第二个请求报告消息可能会停止广播来节省链路容量。通过估计主轴的速度并将位置外推到局部轴的更新时间来校正链接消息中隐含的时移。

5. 发明授权

US06650078B1 Method and system for controlling mechanical systems exhibiting discontinuity in inertial loading 有权
标题翻译：用于控制在惯性载荷上表现出不连续性的机械系统的方法和系统
公开(公告)号：US06650078B1
公开(公告)日：2003-11-18
申请号：US10131875
申请日：2002-04-24
申请人： Mark A. Chaffee
发明人： Mark A. Chaffee
IPC分类号： G05B1101
CPC分类号： G05B13/024
摘要： A technique is provided for adapting feedback control system performance to applications involving changing inertial loads. A modified gain profile is applied for a control system block that includes isolated torque scaling. The torque scaling block facilitates the generation of gain profiles specifically adapted to the changing inertial conditions of the load. Dilatory effects of backlash and similar load discontinuity can be avoided, therefore, by appropriately applying gain profiles to reduce gain within a region of reduced load.
摘要翻译：提供了一种技术，用于将反馈控制系统性能适应于涉及改变惯性负载的应用。修改后的增益曲线应用于包含隔离转矩调整的控制系统块。转矩调节块有助于生成专门适应负载变化的惯性条件的增益曲线。可以避免间隙的影响和类似的负载不连续性，因此，通过适当地应用增益曲线以减小负载区域内的增益。

6. 发明授权

US5684375A Method and apparatus for tuning a motion control system 失效
标题翻译：调整运动控制系统的方法和装置
公开(公告)号：US5684375A
公开(公告)日：1997-11-04
申请号：US492554
申请日：1995-06-20
申请人： Mark A. Chaffee , Thomas J. Rehm
发明人： Mark A. Chaffee , Thomas J. Rehm
IPC分类号： G05B13/02 , G05B19/19 , G05B1/06
CPC分类号： G05B13/024 , G05B19/19 , G05B2219/42033 , G05B2219/42128
摘要： A tuning method and apparatus are provided for tuning gain values in a motion control system. The system is of the type including an input device for generating position command signals, an actuator for displacing a physical element to a desired location in response to control signals, a sensor for generating feedback signals representative of the position of the physical element and a controller coupled to the input device, the sensor and the actuator for processing the command and feedback signals and generating control signals for driving the actuator in response to the command and feedback signals. The controller multiples at least one parameter error signal derived from the command and feedback signals by a gain value to generate the control signals. The technique includes the steps of accelerating and decelerating the actuator and monitoring the feedback signals during the acceleration and deceleration phases of motion. Based upon the control signals used to drive the actuator, the acceleration and deceleration times, and characteristics of the control system, a position bandwidth signal is generated and key gain values are generated based upon the bandwidth signal. The single motion event used for tuning is unidirectional and requires only a minimal displacement of the actuator.
摘要翻译：提供调谐方法和装置用于调整运动控制系统中的增益值。该系统是包括用于产生位置命令信号的输入装置，用于响应于控制信号将物理元件移位到期望位置的致动器，用于产生表示物理元件的位置的反馈信号的传感器和控制器耦合到输入装置，传感器和致动器，用于响应于指令和反馈信号来处理指令和反馈信号并产生用于驱动致动器的控制信号。控制器将从命令和反馈信号得到的至少一个参数误差信号乘以增益值，以产生控制信号。该技术包括在运动的加速和减速阶段加速和减速执行器和监视反馈信号的步骤。基于用于驱动致动器的控制信号，加速和减速时间以及控制系统的特性，产生位置带宽信号，并且基于带宽信号生成键增益值。用于调谐的单个运动事件是单向的，并且仅需要致动器的最小位移。

7. 发明授权

US07904184B2 Motion control timing models 有权
标题翻译：运动控制时序模型
公开(公告)号：US07904184B2
公开(公告)日：2011-03-08
申请号：US11536870
申请日：2006-09-29
申请人： Mark A. Chaffee
发明人： Mark A. Chaffee
IPC分类号： G05B13/02 , G05B19/18 , G05B19/42 , G06F19/00 , G06F17/50
CPC分类号： G05B19/408 , G05B19/0423 , G05B19/4141 , G05B19/4185 , G05B2219/25472 , G05B2219/33273 , G05B2219/34208 , G05B2219/34413 , H04J3/0667 , Y02P90/18
摘要： The claimed subject matter provides systems and/or methods that facilitate utilizing a motion control timing model to coordinate operations associated with controlling motion within an industrial automation environment. For example, a cycle timing component can implement timing set forth by a timing model (e.g., that can be selected, preset, . . . ). Pursuant to an illustration, the cycle timing component can utilize the timing model to coordinate transmitting data, receiving data, performing calculations associated with data (e.g., to generate command(s)), capturing data, applying received commands, and so forth.
摘要翻译：所要求保护的主题提供了有助于利用运动控制定时模型来协调与控制工业自动化环境内的运动有关的操作的系统和/或方法。例如，循环定时分量可以实现由定时模型（例如，可以选择，预设，...）所阐述的定时。根据图示，周期定时分量可以利用定时模型来协调发送数据，接收数据，执行与数据相关的计算（例如，生成命令），捕获数据，应用接收到的命令等等。

8. 发明申请

US20100082314A1 Simulation of tuning effects for a servo driven mechatronic system 有权
标题翻译：仿真伺服驱动机电系统的调谐效果
公开(公告)号：US20100082314A1
公开(公告)日：2010-04-01
申请号：US12242403
申请日：2008-09-30
申请人： John Pritchard , Mark A. Chaffee , Graham Elvis
发明人： John Pritchard , Mark A. Chaffee , Graham Elvis
IPC分类号： G06G7/62
CPC分类号： G06F17/5009 , G05B17/02 , G06F2217/78
摘要： A servo driven mechatronic system simulator and analyzer utilizing preconfigured motion equipment profile databases to predict the behavior of a motion system based on a user selected configuration. The user can adjust the parameters and rerun the simulation and analysis many times in an efficient manner until the optimum operating conditions of the desired system are reached. The user can then archive the system design and implement the system with a greater level of confidence in the ability of the design to meet the requirements of the application.
摘要翻译：伺服驱动的机电系统模拟器和分析器利用预配置的运动设备简档数据库来基于用户选择的配置来预测运动系统的行为。用户可以调整参数，并以有效的方式多次重新运行模拟和分析，直到达到所需系统的最佳操作条件。然后，用户可以对系统设计进行存档，并对系统进行更高程度的置信度，使设计满足应用程序的要求。

9. 发明授权

US08255197B2 Simulation of tuning effects for a servo driven mechatronic system 有权
标题翻译：仿真伺服驱动机电系统的调谐效果
公开(公告)号：US08255197B2
公开(公告)日：2012-08-28
申请号：US12242403
申请日：2008-09-30
申请人： John Pritchard , Mark A. Chaffee , Graham Elvis
发明人： John Pritchard , Mark A. Chaffee , Graham Elvis
IPC分类号： G06F17/50
CPC分类号： G06F17/5009 , G05B17/02 , G06F2217/78
摘要： A servo driven mechatronic system simulator and analyzer utilizing preconfigured motion equipment profile databases to predict the behavior of a motion system based on a user selected configuration. The user can adjust the parameters and rerun the simulation and analysis many times in an efficient manner until the optimum operating conditions of the desired system are reached. The user can then archive the system design and implement the system with a greater level of confidence in the ability of the design to meet the requirements of the application.
摘要翻译：伺服驱动的机电系统模拟器和分析器利用预配置的运动设备简档数据库来基于用户选择的配置来预测运动系统的行为。用户可以调整参数，并以有效的方式多次重新运行模拟和分析，直到达到所需系统的最佳操作条件。然后，用户可以对系统设计进行存档，并对系统进行更高程度的置信度，使设计满足应用程序的要求。

10. 发明授权

US5684374A Method and apparatus for tuning a motion control system having an external velocity loop 失效
标题翻译：用于调谐具有外部速度环的运动控制系统的方法和装置
公开(公告)号：US5684374A
公开(公告)日：1997-11-04
申请号：US508012
申请日：1995-07-27
申请人： Mark A. Chaffee
发明人： Mark A. Chaffee
IPC分类号： G05B19/19 , G05B13/00
CPC分类号： G05B19/19 , G05B2219/41016 , G05B2219/42018 , G05B2219/42128
摘要： A method and apparatus for tuning an external velocity loop servo drive of the type including a controller, a command device, an external velocity servo amplifier, an actuator and a position feedback device. The tuning technique include the use of three unidirectional motion events of descending duration. In the first motion event the controller applies a control signal of known amplitude to the actuator and monitors the actuator velocity based upon the position feedback signals. The controller determines the actuator steady state velocity during the motion event and uses this value to determine a scaling factor for the servo amplifier. In a second motion event, the controller drives the actuator in acceleration and deceleration in response to a control signal of known amplitude. Based upon the times at which the actuator reaches certain anticipated velocities, the controller determines system dynamic characteristics. In a third motion event the controller pulses the actuator for a short interval and monitors the actuator velocity to determine the rise time in response to a control signal of known amplitude. The rise time is used to determine the velocity loop bandwidth. The velocity loop bandwidth is then used to tune the position loop gains to appropriate levels.
摘要翻译：一种用于调谐包括控制器，命令装置，外部速度伺服放大器，致动器和位置反馈装置的外部速度环伺服驱动器的方法和装置。调谐技术包括使用下降持续时间的三个单向运动事件。在第一运动事件中，控制器向致动器施加已知幅度的控制信号，并基于位置反馈信号来监视致动器速度。控制器在运动事件期间确定执行器稳态速度，并使用该值确定伺服放大器的缩放因子。在第二运动事件中，控制器响应于已知幅度的控制信号来驱动致动器的加速和减速。基于执行器达到某一预期速度的时间，控制器确定系统的动态特性。在第三运动事件中，控制器以较短的间隔脉冲致动器，并且监视致动器速度以响应于已知幅度的控制信号来确定上升时间。上升时间用于确定速度环路带宽。然后，速度环路带宽用于将位置环路增益调整到适当的电平。

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