Abstract: A multi-axis motion controller includes a digital signal processor operable in a standalone mode to run a motion control application program for controlling motion along multiple axes is organized in a shared memory architecture and includes a serial I/O data system with DMA access to the memory for repeatedly moving input and output data directly between the memory and a serial data line. The motion controller may be utilized in connection with a cup lid dispenser for an automated drinkmaker having a pivotable shuttle arrangement for dispensing the bottommost lid in a stack, and a double lid sensor for determining if more than one lid has been dispensed.

Abstract: An apparatus and method for media access control of a first node in a network on a powerline communication medium. The apparatus includes a priority controller for providing a transmit authorization signal. The authorization signal can be responsive to a unique priority of the first node in relation to other nodes in the network, with the priority controller receiving the node's priority from a node network controller in the first node. The apparatus includes an access controller for receiving the transmit authorization signal and, in response, communicating a transmit request signal to the node network controller. The apparatus also includes an arbitration controller for preventing the node from transmitting to the network until a predetermined number of other nodes have been allowed to precedentially access the network.

Abstract: A multi-axis motion controller includes a digital signal processor operable in a standalone mode to run a motion control application program for controlling motion along multiple axes is organized in a shared memory architecture and includes a serial I/O data system with DMA access to the memory for repeatedly moving input and output data directly between the memory and a serial data line. The motion controller may be utilized in connection with a cup lid dispenser for an automated drinkmaker having a pivotable shuttle arrangement for dispensing the bottommost lid in a stack, and a double lid sensor for determining if more than one lid has been dispensed.

Abstract: A method for demodulating the carrier signal of powerline communication networks. The method involves demodulating an HDLC data body that had been modulated through differential phase shift keyed modulation. Under the method, the data body is split with data input into a single bit digital delay circuit which outputs a delayed or "previous" binary data bit. A "present" binary data bit is input to one input of an XNOR circuit and the previous binary data bit is input into a second input of the XNOR circuit. When the present binary data bit and the previous binary data bit have unlike phases the XNOR circuit outputs a first binary data bit value. When the present binary data bit and the previous binary data bit have like phases, the XNOR circuit outputs a second binary data bit value. Preferably, the demodulated data is input into a post detection filter.

Abstract: Workpoint torque control is employed in an electron multiaxis robot controller. Robot axis torque is determined from axis motor current feedback. Axis torque requests are based on torque command and torque feedback in an axis torque control mode or on the basis of position, velocity and torque commands and position, velocity and torque feedback in a combined position/torque control mode, or an indirect torque control mode.

Abstract: A binary accelerator is provided for coprocessing operation with a microcontroller. A common memory is shared by the accelerator and the microcontroller for storage of binary equations and equation solutions. The accelerator is formed from a plurality of PAL and LS devices and execute fetched binary instructions in accordance with a Reverse Polish Notation (RPN) system.

Abstract: A pulse width modulation (PWM) control circuit provides for improved implementation of position, velocity and current feedback loops for digital servo control of a multi axis robot. The PWM circuit utilizes a single resistor for sensing joint motor drive current. Circuitry is also disclosed for reducing audible noise and motor heating in large servo motors used for joint arms operated at relatively low PWM frequencies by reducing the motor ripple current.

Abstract: The partitioning of circuitry and software on electronic boards in a robot control is arranged to enable respective controls for varied types of robots to be readily assembled and packaged with use of a few standard boards.The basic control system is formed from an arm interface (AIF) board and a torque processor (TP) board and a servo control (SCM) board. The AIF board has a VME bus terminated in multiple pin connectors for interconnection with the TP and SCM boards and any other boards or additional units to be included in a particular robot control. An AIF connector is also provided for TP board connection on a VMX bus.Robot controls with extended control performance are packaged by including additional boards. For example, the system control board includes a VME bus connector for connection to the AIF board to provide a robot control with higher control capacity.

Abstract: A modular digital robot control includes an electronic arm interface board provided with circuitry for performing robot arm dependent functions. Included are circuitry for generating power amplifier control signals in response to input voltage command signals and circuitry for processing and manipulating position, velocity and motor current feedback signals.An electronic torque processor board is provided with paired torque microprocessors for operating each of respective torque control loops for respective robot joint motors. The torque microprocessors generate the voltage commands in response to input torque commands and feedback motor current signals.An electronic servo control board is provided with paired position/velocity microprocessors for operating position and velocity control loops for the respective joint motors. The position/velocity microprocessors generate the torque commands in response to input position commands and feedback position and velocity signals.

Abstract: A digital control for a multiaxis robot includes position, velocity and torque controls that drive a motor voltage control loop. Pulse width modulated control signals operate power switches in a power bridge to control the current to each robot joint motor. A single resistor is connected in the bridge circuit to supply motor current feedback needed for control loop operation.

Abstract: A control system is provided for a workcell having a plurality of electric robots and a plurality of workcell equipment items in turn having a plurality of control and sensor devices associated therewith.Respective electronic robot controllers are disposed at respective workcell locations to operate robots as a part of the workcell process. Each robot controller has a floppy disk or other means for loading program data for one of the robot controllers.A first input/output control module is disposed at another workcell location and it has connected thereto as inputs a first group of the sensor devices and as outputs a first group of the control devices. Second and third input/output control modules are disposed at additional workcell locations and have connected thereto as inputs second and third groups of the sensor devices and as outputs second and third groups of the control devices.

Abstract: A pulse width moduation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The PWM scheme enables accurate motor current measurement through usage of a single current sense resistor independent of the number of legs in a power amplifier configuration. This scheme permits commercially available, low cost, power blocks to be used for implementation of robot control system power amplifiers.The PWM scheme is cost effectively implemented in a semi-custom large scale integrated (LSI) circuit which provides the digital interface between a torque loop microprocessor and the drive circuitry for the power handling devices used to apply voltage to the robot axis actuator. Interface and control for three axes is provided by a single LSI device.

Abstract: A digital position and velocity feedback system is provided for a multiaxis robot control and it employs an LSI chip to process incremental position signals for position change and velocity computations. At low speeds, velocity is computed from the reciprocal of elasped time. At higher speeds, velocity is computed from the rate at which incremental position signals are generated.

Abstract: Circuitry is provided for applying a pulse width modulation (PWM) scheme to a brushless DC motor that operates as a robot axis drive. A pulse width modulation (PWM) scheme provides for digital implementation of robot control commands. For this purpose, it provides time stabilized current sampling synchronized to the sampling frequency of the position and velocity loops in the robot control. The brushless drive application circuitry provides for application of the PWM control outputs to commutate the motor energization from winding pair to winding pair.

Abstract: A digital robot control is provided with position/velocity and torque control loops with microprocessor servo controllers in each. The position/velocity servo controller includes two microprocessors that operate as a servo engine in providing position/velocity control for six robot axes. One microprocessor operates as a manager to perform data processing and coordination tasks supportive to position/velocity control. The other microprocessor performs position and velocity servo calculation tasks and operates as a slave processor to the position/velocity control manager. The programming for the position/velocity control sends manager position and other commands and position and velocity feedback from other control levels to the position/velocity calculator and sends torque commands received from the calculator to the next lower control level. The calculator employs position/velocity control algorithms in making torque command calculations.

Abstract: A servo control operates in a control loop for a robot control system and performs control support tasks and calculation tasks for the control loop for all of the robot joint motors. The servo includes first and second microprocessors. The first microprocessor performs calculation tasks including the computation of output control commands from stored algorithms for the one control loop for each joint motor. The second microprocessor supervises the operation of the servo control and performs servo control support tasks in the one control loop for each joint motor including the routing of control command, status and feedback data to and from the first microprocessor.A communication interface couples the first and second microprocessors so as to enable the servo control to operate the one control loop for each joint motor and control the controlled variable for the one control loop.The communication interface includes a first memory bank and a second memory bank.

Abstract: A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.

Abstract: A robot is provided with an arm having a plurality of motor driven joints. A power amplifier supplies drive current to each joint motor. Respective digital feedback control loop arrangements generate voltage commands from which signals are generated to operate the power amplifiers.Digital motor current, position and velocity feedback signals are generated for position, velocity and torque control loops in the digital feedback control loop arrangement. System resource facilities provide general support for the operation of the digital feedback control loops and include three separate communications controllers, a dual port microprocessor interfacing memory, a time stamp clock, a program memory and a nonvolatile data memory.A system level microprocessor based system or a microprocessor based position/velocity control system executes motion software from the program memory means according to whether the user desires an expanded performance robot control or a basic robot control.

Abstract: A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction.Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate.Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microprocessors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque commands and the current feedback signals.

Abstract: A digital robot control is provided with cascaded position/velocity and torque control loops with microprocessor servo controllers in each. The servo controller includes two microprocessors that operate as a servo engine in providing motion control for six robot axes. One microprocessor is structured to perform data processing and coordination tasks. The other one performs calculation tasks and operates as a slave processor to the first.