Abstract: A motor drive having controller settings which will result in improved tuning-less performance is disclosed. Gain values for the control loops and/or observer are determined independently of the mechanical loading and the resultant effects of that loading on the motor. The motor drive includes a control loop operable to receive a command signal and to generate a controller reference signal to achieve desired operation of a motor connected to the motor drive. The motor drive also includes a load observer operable to generate a signal that estimates a response required by the motor drive as a result of a load present on the motor. The response estimate signal is provided to the controller to isolate the effects of the load dynamics from operation of the control loops within the controller. A modified controller reference signal is generated as a function of the response estimate signal and the controller reference signal.

Abstract: An improved system and method for tuning a motor controller is disclosed. The improved system and method for tuning a motor controller adjusts controller gains and filter settings in tandem to achieve a desired level of performance. A user terminal is in communication with a motor controller and reads the existing controller gains from the motor controller. The user terminal displays the existing controller gains and at least one user selectable object for adjusting the controller gains. A user adjusts the user selectable object to adjust the controller gains in tandem. The controller gains are adjusted responsive to the user input while maintaining existing relationships between controller gains. The user terminal writes the adjusted values of the gains to the motor controller.

Abstract: A motor drive having controller settings which will result in improved tuning-less performance is disclosed. Gain values for the control loops and/or observer are determined independently of the mechanical loading and the resultant effects of that loading on the motor. The motor drive includes a control loop operable to receive a command signal and to generate a controller reference signal to achieve desired operation of a motor connected to the motor drive. The motor drive also includes a load observer operable to generate a signal that estimates a response required by the motor drive as a result of a load present on the motor. The response estimate signal is provided to the controller to isolate the effects of the load dynamics from operation of the control loops within the controller. A modified controller reference signal is generated as a function of the response estimate signal and the controller reference signal.

Abstract: An improved system and method for tuning a motor controller is disclosed. The improved system and method for tuning a motor controller adjusts controller gains and filter settings in tandem to achieve a desired level of performance. A user terminal is in communication with a motor controller and reads the existing controller gains from the motor controller. The user terminal displays the existing controller gains and at least one user selectable object for adjusting the controller gains. A user adjusts the user selectable object to adjust the controller gains in tandem. The controller gains are adjusted responsive to the user input while maintaining existing relationships between controller gains. The user terminal writes the adjusted values of the gains to the motor controller.

Abstract: An improved system for controlling operation of a motor with a motor drive is disclosed. The motor drive includes a control module having an inner control loop operable to generate a torque reference signal and a load observer operable to generate an estimate of the torque present on the motor. The torque estimate is summed with the torque reference signal to generate a modified torque reference. The bandwidth of the load observer is set wide enough to generate the estimated torque over a desired operating range of the motor. The control module may also include a low pass filter and at least one tracking notch filter. The low pass filter suppresses vibrations at high frequencies, and the tracking notch filter suppresses resonances present at frequencies above the bandwidth of the load observer and within the pass band of the low pass filter.

Abstract: An improved system for controlling operation of a motor with a motor drive is disclosed. The motor drive includes a control module having an inner control loop operable to generate a torque reference signal and a load observer operable to generate an estimate of the torque present on the motor. The torque estimate is summed with the torque reference signal to generate a modified torque reference. The bandwidth of the load observer is set wide enough to generate the estimated torque over a desired operating range of the motor. The control module may also include a low pass filter and at least one tracking notch filter. The low pass filter suppresses vibrations at high frequencies, and the tracking notch filter suppresses resonances present at frequencies above the bandwidth of the load observer and within the pass band of the low pass filter.

Abstract: An industrial control system provides motion control functions that may distribute motion planning tasks to capable motor drives and motion devices based on stored drive profiles. The profile-aware functions allow control programs to be used with motor drives that are both capable and incapable of executing a motion planning with automatic distribution of the planning tasks as appropriate. Coordination among different devices in the industrial control system when motion planning is distributed may be accommodated through peer-to-peer communication between drives and non-controller devices.

Abstract: An input module for an industrial controller is configurable to simplify setup and commissioning. The input module includes input terminals configurable, for example, as a counter input. Still other input terminals may be configured to trigger events as a function of the input signals present at the terminals. Time signals corresponding to transitions in state of the input terminals, triggering of events, or operation of the counters may be recorded. The input module is further configurable to transmit data back to the processor or to transmit data directly to another module in the industrial control network.

Abstract: An input module for an industrial controller is configurable to simplify setup and commissioning. The input module includes input terminals configurable, for example, as a counter input. Still other input terminals may be configured to trigger events as a function of the input signals present at the terminals. Time signals corresponding to transitions in state of the input terminals, triggering of events, or operation of the counters may be recorded. The input module is further configurable to transmit data back to the processor or to transmit data directly to another module in the industrial control network.

Abstract: An industrial control system provides motion control functions that may distribute motion planning tasks to capable motor drives and motion devices based on stored drive profiles. The profile-aware functions allow control programs to be used with motor drives that are both capable and incapable of executing a motion planning with automatic distribution of the planning tasks as appropriate. Coordination among different devices in the industrial control system when motion planning is distributed may be accommodated through peer-to-peer communication between drives and non-controller devices.

Abstract: One or more embodiments provide Common Industrial Protocol (CIP) based time synchronization systems and methods. The CIP Sync solution can be part of Ethernet/IP and can be based on standard UDP (User Datagram Protocol) and/or IEEE 1588 (Time Synchronization) Ethernet technology. According to an embodiment is a system that compensates for step changes in a master clock.

Abstract: One or more embodiments provide Common Industrial Protocol (CIP) based time synchronization systems and methods. The CIP Sync solution can be part of Ethernet/IP and can be based on standard UDP (User Datagram Protocol) and/or IEEE 1588 (Time Synchronization) Ethernet technology. According to an embodiment is a system that compensates for step changes in a master clock.

Abstract: One or more embodiments provide Common Industrial Protocol (CIP) based time synchronization systems and methods. The CIP Sync solution can be part of Ethernet/IP and can be based on standard UDP (User Datagram Protocol) and/or IEEE 1588 (Time Synchronization) Ethernet technology. According to an embodiment is a system that compensates for step changes in a master clock.

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 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.