Abstract: To improve integrity of time synchronization, a node in the safety rated system takes steps to ensure the time to which it is synchronized has not become corrupted. The node receives a synchronize request message from an adjacent network device, which includes the master time, and the node generates an offset value corresponding to a difference between a local time and the master time. The node stores the offset time into a safety memory to ensure that the offset value has data integrity and does not become corrupted. The node performs periodic skew detection between two devices to verify that the clocks remain synchronized. In addition, the node performs a local drift detection to detect if the frequency of the local oscillator on which the local clock value is based begins to change.

Abstract: To improve integrity of time synchronization, a node in the safety rated system takes steps to ensure the time to which it is synchronized has not become corrupted. The node receives a synchronize request message from an adjacent network device, which includes the master time, and the node generates an offset value corresponding to a difference between a local time and the master time. The node stores the offset time into a safety memory to ensure that the offset value has data integrity and does not become corrupted. The node performs periodic skew detection between two devices to verify that the clocks remain synchronized. In addition, the node performs a local drift detection to detect if the frequency of the local oscillator on which the local clock value is based begins to change.

Abstract: A system and method for online simulation of a controlled machine or process utilizes a simplified model of the system dynamics and may be used with hardware in the loop to evaluate performance of the controlled system or with software in the loop to perform commissioning of the control program prior to completion of the mechanical installation. The simplified model includes dominant order dynamics of the controlled system such as the inertia of the system and a damping factor. Further, the online simulation is scheduled to execute at an update rate slower than the update rate of the control loops within the motor drive. The simplified model and reduced update rate reduce the computational burden on the processor such that the simulation may be performed either on the industrial controller or on the motor drive.

Abstract: An improved system and method for analyzing motor performance to detect vibration of an electric machine controlled by a motor drive is disclosed. A load observer determines an estimated torque present as a load on the motor as a function of input signals corresponding to a desired torque to be generated by the motor and to a measured angular position of the motor during operation. The motor drive determines a frequency response of the estimated torque to identify at what magnitude and frequency any vibration components are present within the estimated torque signal. The motor drive compares the frequency response of the estimated torque signal to set points. If the measured magnitude of vibration at a particular frequency, as seen in the frequency response, exceeds a threshold set in one of the set points for that frequency, the motor drive generates an output signal indicting an excessive vibration is present.

Abstract: An improved system and method for analyzing motor performance to detect vibration of an electric machine controlled by a motor drive is disclosed. A load observer determines an estimated torque present as a load on the motor as a function of input signals corresponding to a desired torque to be generated by the motor and to a measured angular position of the motor during operation. The motor drive determines a frequency response of the estimated torque to identify at what magnitude and frequency any vibration components are present within the estimated torque signal. The motor drive compares the frequency response of the estimated torque signal to set points.

Abstract: An improved system and method for analyzing motor performance to detect vibration of an electric machine controlled by a motor drive is disclosed. A load observer determines an estimated torque present as a load on the motor as a function of input signals corresponding to a desired torque to be generated by the motor and to a measured angular position of the motor during operation. The motor drive determines a frequency response of the estimated torque to identify at what magnitude and frequency any vibration components are present within the estimated torque signal. The motor drive compares the frequency response of the estimated torque signal to set points. If the measured magnitude of vibration at a particular frequency, as seen in the frequency response, exceeds a threshold set in one of the set points for that frequency, the motor drive generates an output signal indicating an excessive vibration is present.

Abstract: A system and method for online simulation of a controlled machine or process utilizes a simplified model of the system dynamics and may be used with hardware in the loop to evaluate performance of the controlled system or with software in the loop to perform commissioning of the control program prior to completion of the mechanical installation. The simplified model includes dominant order dynamics of the controlled system such as the inertia of the system and a damping factor. Further, the online simulation is scheduled to execute at an update rate slower than the update rate of the control loops within the motor drive. The simplified model and reduced update rate reduce the computational burden on the processor such that the simulation may be performed either on the industrial controller or on the motor drive.

Abstract: An improved system and method for analyzing motor performance to detect vibration of an electric machine controlled by a motor drive is disclosed. A load observer determines an estimated torque present as a load on the motor as a function of input signals corresponding to a desired torque to be generated by the motor and to a measured angular position of the motor during operation. The motor drive determines a frequency response of the estimated torque to identify at what magnitude and frequency any vibration components are present within the estimated torque signal. The motor drive compares the frequency response of the estimated torque signal to set points. If the measured magnitude of vibration at a particular frequency, as seen in the frequency response, exceeds a threshold set in one of the set points for that frequency, the motor drive generates an output signal indicating an excessive vibration is present.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.