State Machine for a pulse output function

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to, and incorporates by reference herein in its entirety, the following pending provisional applications:

[0002] Serial No. 60/346,488 (Attorney Docket No. 2002P00150), filed 7 Jan. 2002; and

[0003] Serial No. 60/384,979 (Attorney Docket No. 2002P08887US), filed 3 Jun. 2002.

BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The invention and its wide variety of potential embodiments will be readily understood via the following detailed description of certain exemplary embodiments, with reference to the accompanying drawings in which:

[0005]
FIG. 1 is a flowchart of an exemplary embodiment of a method 1000 of the present invention;

[0006]
FIG. 2 is a block diagram of an exemplary embodiment of a system 2000 of the present invention;

[0007]
FIG. 3 is a block diagram of an exemplary embodiment of an information device 3000 of the present invention;

[0008]
FIG. 4 is a block diagram of an exemplary embodiment of cache behavior of an exemplary motion module of the present invention;

[0009]
FIG. 5 is a reference point seek diagram of an exemplary motion module of the present invention;

[0010]
FIG. 6 is a reference point seek diagram of an exemplary motion module of the present invention;

[0011]
FIG. 7 is a reference point seek diagram of an exemplary motion module of the present invention;

[0012]
FIG. 8 is a reference point seek diagram of an exemplary motion module of the present invention;

[0013]
FIG. 9 is two reference point seek diagrams of an exemplary motion module of the present invention;

[0014]
FIG. 10 is a block diagram showing an exemplary arrangement and labeling of LED's of an exemplary motion module of the present invention;

[0015]
FIG. 11 is a circuit diagram showing exemplary circuits for inputs and outputs and the associated user power terminals of an exemplary motion module of the present invention;

[0016]
FIG. 12 is a pulse out generation block diagram for an exemplary embodiment of the motion module;

[0017]
FIG. 13 is a graph of frequency versus time for an exemplary embodiment of the present invention;

[0018]
FIG. 14 is a graph of frequency versus time for an exemplary embodiment of the present invention;

[0019]
FIG. 15 is an S-curve graph of frequency versus time for an exemplary embodiment of the present invention.

DETAILED DESCRIPTION

[0020] At least one exemplary embodiment of the present invention includes a method comprising obtaining a first position, a second position, and a maximum motion parameter for a movement between the first position and the second position. The method also comprises creating a table of values comprising a plurality of target frequencies for the movement, the table of values also comprising a pulse width, a pulse count, and a differential pulse width corresponding to each of the target frequencies from the plurality of target frequencies. The method also comprises outputting at least a portion of the values from a pulse generator.

[0021] At least one exemplary embodiment of the present invention includes a method comprising obtaining a first frequency and a second frequency. The method also comprises creating a table of values comprising a plurality of target frequencies intermediate to the first and second frequencies, the table of values also comprising a pulse width, a pulse count, and a differential pulse width corresponding to each of the target frequencies from the plurality of target frequencies. The method also comprises outputting at least a portion of the values to a motion device. The method can also comprise transmitting the at least a portion of the values over the Internet.

[0022] At least one exemplary embodiment of the present invention includes a device comprising a sub-incremental clock-count-derived pulse generator. At least one exemplary embodiment of the present invention includes a device comprising a pulse generator adapted to produce a change from a first pulse output frequency to a second pulse output frequency by interpolating between pre-computed intermediate pulse output frequencies, a width of each pulse derived from real-time sub-incremental addition of clock counts during periods of acceleration and deceleration.

[0023] At least one exemplary embodiment of the present invention includes a system comprising an arithmetic logic unit. The system also comprises a memory comprising a pre-computed table of target pulse widths, changes in pulse width, and pulse counts distributed according to a constrained semi-logarithmic distribution, said memory connected to said arithmetic logic unit via a pipeline mechanism. The system further comprises a state machine adapted to load each of said target pulse widths and changes in pulse width from said memory into said arithmetic logic unit at pre-determined intervals of pulse count while maintaining control of a pulse width generated by said arithmetic logic unit.

[0024]
FIG. 1 is a flowchart of an exemplary embodiment of a method 1000 of the present invention. In certain embodiments, method 1000 can be utilized in conjunction with a pulse generator that affects a motion device. A motion device can be any device capable of being controlled by a variable frequency pulse train, including a motion controller, such as a stepper motor controller, a servo controller, an actuator controller, etc.; a motion drive, such as a stepper drive, servo drive, etc.; and/or a actuator, such as a stepper motor, servomotor, linear motor, motor, ball screw, servo valve, hydraulic actuator, pneumatic valve, etc. It is recognized that a pulse generator can produce a series of pulses, called a pulse train. According to certain embodiments of the present invention, a variable frequency pulse generator can produce a pulse train that can vary in frequency, count, width, and/or differential width (also referred to herein as “change in pulse width”). At the motion device, the frequency of the pulse train can control speed and/or the pulse count can control position.

[0025] At activity 1100, a motion control profile can be created, potentially by a user of the pulse generator. The user can provide a desired angular and/or linear distance to be traveled and a speed at which to cover the distance.

[0026] In certain embodiments, the user can provide a maximum velocity, a maximum acceleration, a maximum change in acceleration with respect to time (sometimes referred to as “jerk” or specified as a “jerk time”), and/or a maximum change in jerk with respect to time. The user can determine these values deterministically and/or empirically to achieve desired machine movements and/or avoid undesired effects, such as motor stalling, motor slippage, or other motion device problems (e.g., excess stresses, loss of friction between conveyed items and a conveyor belt, flinging of liquids, etc.).

[0027] In response, a motion control profile can be rendered. In certain embodiments, the motion control profile can indicate desired positions and times for a motion device on a position versus time plot. In other embodiments, the motion control profile can indicate a desired frequency ramp for a motion device on a frequency versus time plot. Such a motion control profile can include a beginning and an ending frequency, and can be linear, curvilinear, or a combination of linear and curvilinear portions between the frequencies. Potentially based on the user's input, in some cases the motion control profile can reflect an S-curve, in which the “take-off” from the beginning frequency gradually ramps up in frequency change, and the “landing” to the ending frequency gradually ramps down in frequency change, to avoid abruptness in frequency change near the beginning and ending frequencies. The motion control profile can be stored as, for example, a table of time-frequency points. Other potential plots can include position versus pulse count, frequency versus pulse count, speed versus time, speed versus position, acceleration versus time, acceleration versus pulse count, acceleration versus position, acceleration versus frequency, and/or acceleration versus speed. Note that a motion control profile can provide expressly certain motion parameters, and can imply other motion parameters. For example, a motion control profile can expressly describe a beginning position, an ending position, and a time over which a motion between the beginning and ending positions is to occur, which by implication describes an average velocity for the motion.

[0028] At activity 1200, the motion control profile can be stored, such as in a memory, for later retrieval. At activity 1300, the motion control profile can be obtained by, for example, a motion control processor of a pulse generator module of a programmable logic controller (“PLC”).

[0029] At activity 1400, the motion control processor can load a first and second frequency from the motion control profile, and can calculate a plurality of intermediate frequencies. The motion control processor can seek to adjust the pulse width of each pulse so as to achieve the frequency (corresponding to speed), acceleration, and/or change in acceleration specifications of the specific application while also meeting intermediate and/or total pulse count (corresponding to distance) specifications. Because each pulse has a finite width, and because pulse width can vary within a pulse train, new values of pulse width can be needed from a few times per second to several hundred thousand or millions of times per second in current typical applications.

[0030] For a motion control processor intended to supply a broad variety of end use needs, the range of motion parameters (e.g., frequencies, accelerations, times, and/or distances, etc.) to be accommodated can be represented and calculated as floating point values, and/or in a versatile fixed point format with a large number of significant digits. In certain embodiments of the present invention, the values can be computed before needed and stored in a memory for retrieval and use in real time.

[0031] At least one embodiment of the present invention can compute values (e.g., pulse width, change in pulse width, and/or number of pulses, etc.) associated with a plurality of frequencies intermediate in value to the first and second frequencies of the motion control profile prior to the start of motion and can store the values in memory. During execution of the motion, these values can be fetched from memory at pre-determined intervals of pulse count. The pulse widths of individual pulses issued during the intervals between fetched values can be computed as a simple linear addition of a change in pulse width for each pulse, accomplishing in real time an interpolation between the pre-calculated values of pulse width associated with the plurality of intermediate frequencies.

[0032] Computation of values prior to the start of motion, when calculation time is relatively unconstrained, can allow calculation to a desired level of precision with a processor that is limited in size, cost, and/or power. Computation of values associated with a sufficiently sparse plurality of intermediate frequencies can allow storage of the pre-computed data in a memory that is limited in size, cost, and/or power. In certain cases, changing each pulse width by means of a simple additive interpolation between the pre-computed points can allow for a closer approximation to the desired motion control profile than would be achieved by using only the plurality of intermediate frequencies, while limiting the cost, size, and/or power of the computing device that is required to have a fresh value available for each pulse as it occurs.

[0033] Where a pulse is defined as an event comprising a period of a logical “1” and a logical “0”, simple addition of a constant value to the pulse width with each pulse produces a non-linear change in frequency, since frequency is the inverse of pulse width. Sustained addition of a constant value to the pulse width can produce a markedly curved change in frequency with respect to time, with low acceleration at low frequency and high acceleration at high frequency. In order to achieve a given desired adherence to the specified frequency profile, the intervals between the points of the plurality of intermediate frequencies can be controlled, thereby controlling the curvature produced by the interpolative addition of a constant to the pulse width. For a constant acceleration region of a profile, said curvature is more marked at the lower values of frequency. By distributing the intervals between the points of the plurality of frequencies according to a semi-logarithmic progression, (or equivalently, by advancing each interval of increasing frequency by an equal predetermined percentage of the preceding frequency) a distribution of points can be achieved whereby more points are placed at the lower values of frequency where more attention to curvature control is desired, thus achieving a desired level of adherence to the profile with fewer points than would be achieved by points distributed equally in time.

[0034] Complete adherence to this semi-logarithmic distribution of points can result in very few points at the higher frequency portion of a frequency change region. For frequency profiles that include controlled changes in acceleration (S curves, or controlled “jerk”) sufficient points can be included at the higher frequencies to describe, to the desired level of accuracy, the desired limited change in acceleration between a region of high acceleration and a region of low acceleration or no acceleration (constant speed). Thus, the increasing interval between pre-calculated frequency points implied by a semi-logarithmic progression can be constrained, or limited, to provide points at some maximum interval consistent with representing the anticipated range of curvature desired for the S-curve, or limited acceleration case.

[0035] Further, there can be practical limits on the minimum interval between points, as required by, for example, a processor interrupt response time needed to load a new set of values, and/or by the requirement that the realizable intervals be greater than a current pulse width. Thus, the intervals calculated by the semi-logarithmic distribution can be examined and suitably constrained to no less than some minimum quantity determined by the implementing system constraints.

[0036] Each pulse width can be produced by counting out an integral number of clock events of some suitably higher frequency master clock, which number of clock events can be the stored representation of pulse width value, and each change in pulse width can be produced by adding a positive or negative number to the current value. In order to achieve the desired range of frequencies, accelerations, and/or pulse counts, with a desired level of precision, at least one embodiment of the current invention can represent the change in pulse width with an integral number of clock events and a sub-integral or fractional part number of clock events. A fractional part of a clock event is not necessarily expressed in a non-integral number of clock events per realized pulse width, but can be accumulated on each of the pulse width change additions for the specified interpolation interval. At such time that the accumulation of fractional or sub-integral parts exceeds a whole value, this whole value can become part of the expressed number of integral clock events per pulse width.

[0037] At activity 1500, any or all of the calculated values can be adjusted to conform to predetermined motion constraints and/or parameters. For the purposes of this application, motion constraints can include constraints on frequency, the first derivative of frequency with respect to time, and/or the second derivative of frequency with respect to time. Motion constraints can also include constraints on angular and/or linear position, velocity, acceleration, jerk (the first derivative of acceleration with respect to time), and/or the second derivative of acceleration with respect to time. Note that those constraints that are expressed as derivatives can be approximated using predetermined differential values (increments) of time. For example, jerk can be approximated as a maximum allowable acceleration value divided by a chosen increment of time. As another example, a specified minimum motion time can be followed.

[0038] Motion constraints can apply at any region of the motion control profile. For example, when first beginning a change in position of a stepper motor shaft, to avoid potential challenges such as slippage, jerk can be limited to a predetermined amount, such as 0.01 radian per second3 or 0.01 mm per second3.

[0039] At activity 1600, a table can be populated with the calculated and/or adjusted values. Each row of the table can contain a different intermediate frequency, each intermediate frequency having a corresponding pulse width, change in pulse width, and/or pulse count. Two adjacent rows can be considered to contain an adjacent pair of intermediate frequencies.

[0040] At activity 1700, the table can be read by a pulse generator of the PLC to output a pulse train. Table values can be provided to a motion control processor of the pulse generator, which can comprise a pipeline mechanism, an arithmetic logic unit (“ALU”), and/or a controlling state machine. The ALU can provide interpolated intermediate values of pulse width by adding a supplied positive or negative change in pulse width to each successive pulse width value, for the indicated number of pulses. The ALU may add a value representing an integral number and a non-integral or fractional number of master clock events, accumulating the fractional number over multiple pulse widths until such accumulation exceeds a whole number and is incorporated into the expressed pulse width. Control of the reading of the table and output of the pulse train can be governed by the state machine at predefined intervals, which intervals can be indefinitely deferred, interrupted, and/or re-initiated by command and/or external event while maintaining control of pulse width.

[0041] At activity 1800, the pulse train can be provided to a motion device. The pulse train can be provided via a direct connection to the pulse generator, and/or via a network connection, such as an Internet connection. The pulse train can be provided as a digital or an analog signal.

[0042]
FIG. 2 is a block diagram of an exemplary embodiment of a system 2000 of the present invention. System 2000 can include a programmable logic controller (“PLC”) 2100 comprising a main processor 2120 coupled via a connector 2130 to a pulse generator 2140. In certain embodiments, pulse generator 2140 can connect to a connector 2300 such as a system backplane and/or an expansion input/output bus of PLC 2100.

[0043] Pulse generator 2140 can be integral to PLC 2100. That is, once installed, pulse generator 2140 can be a component of PLC 1100, rather than free standing. Pulse generator 2140 can include a motion processor 2150 having a memory 2160, such as a dual port RAM. Motion processor 2150 can be a commercially available general-purpose microprocessor. In another embodiment, motion processor 2150 can be an Application Specific Integrated Circuit (ASIC) that has been designed to implement in its hardware and/or firmware at least a part of a method in accordance with an embodiment of the present invention. In yet another embodiment, motion processor 2150 can be a Field Programmable Gate Array (FPGA).

[0044] Memory 2160 can contain instructions that can be embodied in software, which can take any of numerous forms that are well known in the art. Pulse generator 2140 also can include a communications interface 2170, such as a bus, a connector, a telephone line interface, a wireless network interface, a cellular network interface, a local area network interface, a broadband cable interface, etc.

[0045] Pulse generator 2140 can be connected to a motion controller 2300 that is separate from PLC 2100. Motion controller 2300 can be connected to a motion drive and/or an actuator 2400. Pulse generator 2140 also can be connected via a network 2500 to a motion controller 2600 that is separate from PLC 2100. Network 2500 can be a public switched telephone network (PSTN), a wireless network, a cellular network, a local area network, the Internet, etc. Motion controller 2600 can be connected to a motion drive and/or an actuator 2700. Further, pulse generator 2140 can be connected to a motion controller 2180 that is integral to PLC 2100. Motion controller 2180 can be connected to a motion drive and/or an actuator 2200.

[0046] Connected to network 2500 also can be an information device 2900, such as a traditional telephone, telephonic device, cellular telephone, mobile terminal, Bluetooth device, communicator, pager, facsimile, computer terminal, personal computer, etc. Information device 2900 can be used to program, interact with, and/or monitor pulse generator 2140.

[0047]
FIG. 3 is a block diagram of an exemplary embodiment of an information device 3000 of the present invention. Information device 3000 can represent information device 2900 of FIG. 2. Information device 3000 can include well-known components such as one or more network interfaces 3100, one or more processors 3200, one or more memories 3300 containing instructions 3400, and/or one or more input/output (I/O) devices 3500, etc.

[0048] In one embodiment, network interface 3100 can be a telephone, a cellular phone, a cellular modem, a telephone data modem, a fax modem, a wireless transceiver, an Ethernet card, a cable modem, a digital subscriber line interface, a bridge, a hub, a router, or other similar device.

[0049] Each processor 3200 can be a commercially available general-purpose microprocessor. In another embodiment, the processor can be an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA) that has been designed to implement in its hardware and/or firmware at least a part of a method in accordance with an embodiment of the present invention.

[0050] Memory 3300 can be coupled to a processor 3200 and can store instructions 3400 adapted to be executed by processor 3200 according to one or more activities of a method of the present invention. Memory 3300 can be any device capable of storing analog or digital information, such as a hard disk, Random Access Memory (RAM), Read Only Memory (ROM), flash memory, a compact disk, a digital versatile disk (DVD), a magnetic tape, a floppy disk, and any combination thereof.

[0051] Instructions 3400 can be embodied in software, which can take any of numerous forms that are well known in the art.

[0052] Any input/output (I/O) device 3500 can be an audio and/or visual device, including, for example, a monitor, display, keyboard, keypad, touchpad, pointing device, microphone, speaker, video camera, camera, scanner, and/or printer, including a port to which an I/O device can be attached or connected.

[0053] Certain exemplary embodiments of the present invention include a position or motion module that connects a PLC to stepper motor via a stepper drive controller. Certain exemplary embodiments of this module are sometimes referred to herein as the EM 253 Motion Module. Certain exemplary embodiments of the PLC are sometimes referred to herein as the S7-200. Certain exemplary embodiments of the stepper motor are sometimes referred to herein as the Simostep P50 motor. Certain exemplary embodiments of the stepper drive controller are sometimes referred to herein as the Simodrive FM Step Drive.

[0054] Features of the EM 253 Motion Module

[0055] The EM 253 Motion Module can identify itself as an S7-200 intelligent module and can provide local inputs and outputs for interfacing with, for example, a single axis stepper motor as specified herein.

[0056] Communication between the module and the S7-200 PLC can be transacted over the Expansion I/O bus. The appropriate hardware can be provided in order to support communication initiated by either the PLC or the module.

[0057] The EM 253 Motion Module can provide the pulse outputs for motion control from 12 pulses per second (pps) to 200K pulses per second (pps). In the event that this span of pulse rates cannot be provided as a single range, the module firmware can automatically select the operating range based upon the maximum speed specified in the module configuration. Based upon the maximum speed (MAX_SPEED) the module can compute the minimum speed (MIN_SPEED) for that range. The following ranges can be supported:

1Speed RangeMIN_SPEEDMAX_SPEED up to 2K pps12 ppsMAX_SPEED up to 10K pps60 ppsMAX_SPEED up to 50K pps300 pps MAX_SPEED up to 200K pps1200 pps

[0058] Programming Interface to the EM253 Motion Module

[0059] The S7-200 programming software can provide three functions to aid module configuration, profile creation, and module operation (control and status monitoring).

[0060] The configuration function can prompt the user to enter the required parameters. Then the profile creation function can prompt the user for the required information for each move profile. The information for each move profile can then be converted into a sequence of steps with a move identification number. Once the user has entered the information for the configuration and all the move profiles, the sequence of steps for each move can be combined into a single table as specified herein. The pointer to the V memory table can be stored in the section of the SDB provided for the module. Then both the data block for V memory and the SDB can be downloaded to the PLC.

[0061] A library instruction using the PCALL instruction and its corresponding subroutine can be provided as a standard function for controlling the module's operation. The user can be able to monitor the module's operation by enabling execution status of the library instruction.

[0062] Expansion I/O Bus Interface

[0063] The module can provide a ten-pin ribbon cable for connection to the expansion I/O bus interface on the PLC or previous I/O expansion module. It can also provide a ten-pin ribbon cable connector (male) into which another I/O expansion module can be connected. The module can return the ID code 0×21 which identifies the module as:

[0064] (a) An intelligent module

[0065] (b) Discrete I/O

[0066] (c) No inputs

[0067] (d) With 8 discrete outputs

[0068] The module can provide a dual port RAM through which communication with the PLC can be accomplished. Configuration information for the module can be accessed using either the MPI or the more efficient Block Data Transfer. The module can utilize a maximum of one MPI request and/or multiple Block Data Transfer (BDT) request per transaction with the S7-200 CPU.

[0069] As part of power up initialization, the module can clear all data in the dual port RAM Banks 0 through 7. The fifty bytes of SM data area allocated for the intelligent module are defined in Table 1 (the definition is given as if this were the first intelligent module in the I/O system). In order for the CUR_POS and CUR_SPEED values to be consistent with one another the module H/W design can provide the facilities to capture both values as an atomic operation.

2TABLE 1Dual Port RAM Bank Definition (Banks 8 through 15)SM AddressDescriptionSMB200 To SMB215Module name (16 ASCII characters) SMB200 is the first character.“EM253 Position”.SMB216 To SMB219S/W revision number (4 ASCII characters) SMB216 is the first character.SMB220 To SMB221Error code (SMB220 is the MSB of the error code)0000 - No error0001 - No user power0002 - Configuration block not present0003 - Configuration block pointer error0004 - Size of configuration block exceeds available V memory0005 - Illegal configuration block format0006 - Too many profiles specified0007 - Illegal STP_RSP specification0008 - Illegal LIM − specification0009 - Illegal LIM + specification000A - Illegal FILTER_TIME specification000B - Illegal MEAS_SYS specification000C - Illegal RP_CFG specification000D - Illegal PLS/REV value000E - Illegal UNITS/REV value000F - Illegal RP_ZP_CNT value0010 - Illegal JOG_INCREMENT value0011 - Illegal MAX_SPEED value0012 - Illegal SS_SPD value0013 - Illegal RP_FAST value0014 - Illegal RP_SLOW value0015 - Illegal JOG_SPEED value0016 - Illegal ACCEL_TIME value0017 - Illegal DECEL_TIME value0018 - Illegal JERK_TIME value0019 - Illegal BKLSH_COMP value0020 to FFFF - ReservedSMB222Input/output status - reflects the status of the module inputs and outputs status

DIS - Disable output0 = no current flow,1 = current flowSTP - Stop input0 = no current flow,1 = current flowLMT− - Negative travel limit input0 = no current flow,1 = current flowLMT+ - Positive travel limit input0 = no current flow,1 = current flowRPS - Reference point switch input0 = no current flow,1 = current flowZP - Zero pulse input0 = no current flow,1 = current flow

[0070] When an error condition or a change in status of the data is detected, the module can indicate this by updating the SM locations corresponding to the module's position. If it is the first module, it will update SMB200 through SMB249 as required to report the error condition. If it is the second module, it will update SMB250 through SMB299; and so on.

[0071] The module can implement Banks 15 through 127 for module initiated communication to the PLC. There is no requirement for the module to implement Banks 128 through 255

[0072] Module Configuration and Profile

[0073] Both the configuration and the profile information can be stored in a table in V memory in the PLC. The EM 253 Motion Module can access its configuration and profile information using the pointer value supplied in the SM locations in the PLC.

[0074] The Configuration/Profile Table can be divided into three sections. The first section is the Configuration Block, which can contain information used to set-up the module in preparation for executing motion commands. The second section is the Interactive Block, which can support direct setup of motion parameters by the user program. The third section can contain from 0 to 64 Profile Blocks, each of which can describe a predefined move operation that can be performed by the module.

3Configuration BlockInteractive BlockProfile Blocks

[0075] Before the module can execute a profiled motion, it can perform the calculations to convert the general speed and position data provided in the profile block to the specific data and actions required to actually perform the move. These calculations can be performed whenever the module first sees the profile, but to improve responsiveness on subsequent executions of the profile, the module can provide a cache memory to store the complete execution data for up to four profiles. When the user commands the execution of a given profile, the module can check the cache to see if the profile is resident. If the profile is resident in the cache, the profile can be executed immediately. If the profile is not resident in the cache, the module can transfer the profile from the PLC's V memory to cache before it is executed.

[0076] The profile cache can be implemented as a FIFO queue, ordered according to the time a profile was last executed. When the user commands execution of a profile, that profile can become the newest entry, whether or not it previously existed in the cache. If the profile to be executed is not currently resident in the cache, then the resident profile with the longest period of time since it was last executed can be removed from the cache to make room for the newest profile. An example of cache behavior is shown in FIG. 4.

[0077] The module can manage the cache memory automatically without any intervention required by the user. If the user changes profile information for profiles that have already been executed, the user can be responsible for commanding a module reconfiguration. A module configuration command can cause the module to read the configuration information and empty the cache. If the user does not change any of the configuration information (only changes profile information), then the module can empty the cache.

[0078] The cache is not necessarily used for motion controlled from the Interactive Block. When the command to execute a motion is issued, the module can read the data contained within the Interactive Block to obtain the specifications of the move.

[0079] The following table defines the structure of the Configuration/Profile Table which can be located in V memory of the S7-200 PLC. This information can be accessible by the module, but typically can not be changed by the module. The Byte Offset column of the table can be the byte offset from the location pointed to by the configuration/profile area pointer.

[0080] The Type field for each entry can specify the numeric format of all the double word values. If the MEAS_SYS configuration value is set to Pulses, a double integer value (int) can be used. If the MEAS_SYS configuration value is set to Engineering Units, a floating point value (fp) can be used.

[0081] The ranges given in Table 2 for speed and position values are expressed in units of pulses per second and pulses, respectively. When using engineering units, conversion to either pulses per second or pulses can be required to verify that the value is within the allowed range. In absolute mode the position range is −231 to 231-1. However, each position change in an interactive move or each step of a profile move can have a range of 1 to 230-1 pulses, with the exception that a position change of 0 can be allowed for the initial step. For relative mode each position change in an interactive move or each step of a profile move can have a range of 1 to 230-1 pulses.

4TABLE 2Configuration/Profile TableByte OffsetNameFunction DescriptionTypeConfiguration Block0MOD_IDFive ASCII characters that associate the configuration—with a module type; default value for the steppermodule is M253A”5CB_LENThe length of the configuration block in bytes (1 byte)—6IB_LENThe length of the interactive block in bytes (1 byte)—7PF_LENThe length of a single profile in bytes (1 byte)—8STP_LENThe length of a single step in bytes (1 byte)—9STEPSThe number of steps allowed per profile (1 byte)—10PROFILESNumber of profiles from 0 to 64 (1 byte)—11ReservedThis location is reserved for use by the library function.—It should be initialized to a value of 0x0000 by theconfiguration wizard (2 bytes)13IN_OUT_CFGSpecifies the use of the module inputs and outputs (1 byte)—

P/D - This bit selects the use of P0 and P1Positive Polarity (POL = 0)0 - P0 pulses for positive rotationP1 pulses for negative rotation1 - P0 pulses for rotationP1 controls rotation direction (0 - pos, 1 - neg)Negative Polarity (POL = 1)0 - P0 pulses for negative rotationP1 pulses for positive rotation1 - P0 pulses for rotationP1 controls rotation direction (0 - neg, 1 - pos)POL - This bit selects the polarity convention for P0and P1;(0 - positive polarity, 1 - negative polarity)STP - Controls active level for stop inputRPS - Controls active level for RPS inputLMT− - Controls active level for negative travel limit inputLMT+ - Controls active level for positive travel limit input0 - active high1 - active low14STP_RSPSpecifies the drive's response to the STP input (1 byte)—Selection Description0 No action, ignore input condition1 Decelerate to a stop and indicate STP input active2 Terminate pulses and indicate STP input3 to 255 Reserved (error if specified)15LMT−_RSPSpecifies the drive's response to the negative limit input—(1 byte)Selection Description0 No action, ignore input condition1 Decelerate to a stop and indicate limit reached2 Terminate pulses and indicate limit reached3 to 255 Reserved (error if specified)16LMT+_RSPSpecifies the drive's response to the positive limit input—(1 byte)Selection Description0 No action, ignore input condition1 Decelerate to a stop and indicate limit reached2 Terminate pulses and indicate limit reached3 to 255 Reserved (error if specified)17FILTER_TIMESpecifies the filter time for the STP, LMT−, LMT+, and—RPS inputs (1 byte)

Selection Filter Response Time‘0000’ 200 μsec‘0001’ 400 μsec‘0010’ 800 μsec‘0011’ 1600 μsec‘0100’ 1600 μsec‘0101’ 3200 μsec‘0110’ 6400 μsec‘0111’ 12800 μsec‘1000’ No filter‘1001’ to ‘1111’ Reserved(error if specified)18MEAS_SYSSpecifies the measurement system used to describe—moves (1 byte);0 - pulses (speed measured in pulses/sec and positionvalues measured in pulses - values are double integer)1 - engineering units (speed measured in units/sec andposition values measured in units - values are singleprecision real)2 to 255 - reserved (error if specified)19—Reserved - set to 0 (1 byte)—20PLS/REVSpecifies the number of pulses per revolution of theintmotor, (only applicable when MEAS_SYS is set to 1) -(4 bytes)Range: 1 to 231 − 124UNITS/REVSpecifies the engineering units per revolution of thefpmotor, (only applicable when MEAS_SYS is set to 1) -(4 bytes)Range: 0.0 to 3.402823 × 103828UNITSReserved for Micro/WIN to store a custom units string—(4 bytes)32RP_CFGSpecifies the reference point search configuration (1 byte)—

RP_SEEK_DIR - This bit specifies the startingdirection for a reference point search (0 - positivedirection, 1 - negative direction)RP_APPR_DIR - This bit specifies the approachdirection for terminating the reference point search (0 -positive direction, 1 - negative direction)MODE - Specifies the reference point search method‘0000’ - Reference point search disabled‘0001’ - The reference point is where the RPSinput goes active.‘0010’ - The reference point is centered within the‘0011’ - The reference point is outside the active‘0100’ - The reference point is within the activeregion of the RPS input.‘0101’ to ‘1111’ - Reserved (error if selected)33—Reserved - set to 0—34RP_ZP_CNTNumber of pulses of the ZP input used to define theintreference point (4 bytes) Range: 1 to 231 − 138RP_FASTReference point seek speed - fast; (4 bytes)int/fpRange: MIN_SPEED to MAX_SPEED42RP_SLOWReference point seek speed - slow; maximum speedint/fpfrom which the motor can instantly go to a stop or less(4 bytes)Range: MIN_SPEED to RP_FAST46SS_SPEEDThe starting speed is the maximum speed to which theint/fpmotor can instantly go from a stop and the maximumspeed from which the motor can instantly go to a stop.Operation below this speed is allowed, butacceleration/deceleration times do not apply. (4 bytes)Range: MIN_SPEED to MAX_SPEED50MAX_SPEEDMaximum operating speed of the motor (4 bytes)intlfpRange: 0 to 200K pps54JOG_SPEEDJog speed; (4 bytes) Range: MIN_SPEED toint/fpMAX—SPEED58JOG—The jog increment value is the distance (or number ofint/fpINCREMENTpulses) to move in response to a single jog pulse. (4bytes) Range: 1 to 230 − 162ACCEL_TIMETime required to accelerate from minimum to maximumintspeed in msec (4 bytes) Range: 20 ms to 32000 ms66DECEL_TIMETime required to decelerate from maximum to minimummtspeed in msec (4 bytes) Range: 20 ms to 32000 ms70BKLSH_COMPThe backlash compensation value is the distance used toint/fpcompensate for the system backlash on a directionchange (4 bytes) Range: 0 to 230 − 174JERK_TIMETime during which jerk compensation is applied to theintbeginning and ending portions of anacceleration/deceleration curve (S-curve). Specifying avalue of 0 disables jerk compensation. The jerk time isgiven in msec. (4 bytes) Range: 0 ms to 32000 msInteractive Block78MOVE_CMDSelects the mode of operation (1 byte)—0 - Absolute position1 - Relative position2 - Single-speed, continuous positive rotation3 - Single-speed, continuous negative rotation4 - Manual speed control, positive rotation5 - Manual speed control, negative rotation6 - Single-speed, continuous positive rotation with7 - Single-speed, continuous negative rotation with8 to 255 - Reserved (error if specified)79—Reserved - set to 0 (1 byte)—80TARGET_POSThe target position to go to in this move (4 bytes)int/fpRange: See Note 184TARGET—The target speed for this move (4 bytes)int/fpSPEEDRange: MIN_SPEED to MAX_SPEED88RP—OFFSETAbsolute position of the reference point (4 bytes)int/fpRange: −231 to 231 − 1

[0082] Shown in Table 3, the Profile Block Section of the Configuration/Profile Table can contain from 0 to 64 move profiles. If more than 64 move profiles are needed, the user can bear the burden of exchanging Configuration/Profile Tables, by changing the value stored in the configuration/profile table pointer.

5TABLE 3BytePFStepOffset##NameFunction DescriptionTypeProfile Blocks920STEPSNumber of steps in this move sequence (1 byte)—(+0)93MODESelects the mode of operation for this profile—(+1)block(1 byte)0 - Absolute position1 - Relative position2 - Single-speed, continuous positive rotation3 - Single-speed, continuous negative rotation4 - Reserved (error if specified)5 - Reserved (error if specified)6 - Single-speed, continuous positive rotationwith triggered stop (RPS input signals stop)7 - Single-speed, continuous negative rotationwith triggered stop (RPS input signals stop)8 - Two-speed, continuous positive rotation(RPS selects speed)9 - Two-speed, continuous negative rotation(RPS selects speed)10 to 255 - Reserved (error if specified)940POSPosition to go to in move step 0int/fp(+2)(4 bytes) Range: See Note 1 above98SPEEDThe target speed for move step 0int/fp(+6)(4 bytes) Range: MIN_SPEED to MAX_SPEED1021POSPosition to go to in move step 1int/fp(+10)(4 bytes) Range: See Note 1 above106SPEEDThe target speed for move step 1int/fp(+14)(4 bytes) Range: MIN_SPEED to MAX_SPEED1102POSPosition to go to in move step 2int/fp(+18)(4 bytes) Range: See Note 1 above114SPEEDThe target speed for move step 2int/fp(+22)(4 bytes) Range: MIN_SPEED to MAX_SPEED1183POSPosition to go to in move step 3int/fp(+26)(4 bytes) Range: See Note 1 above122SPEEDThe target speed for move step 3int/fp(+30)(4 bytes) Range: MIN_SPEED to MAX_SPEED1261STEPS—(+34)127MODE—(+35)1281POSint/fp(+36)132SPEEDint/fp(+40)

[0083] Command Byte

[0084] The module can provide one byte of discrete outputs, which can be used as the command byte. The command byte can have the following definition, in which R: 0=idle, 1=execute command specified in command_code, as shown Table 4, below.

6TABLE 4

command_code:000 0000 to 011 1111Command 0-63, Execute motion specified inProfile Blocks 0-63100 0000 to 111 0101Command 64-117, reserved (error if specified)111 0110Command 118, Activate the DIS output111 0111Command 119, De-activate the DIS output111 1000Command 120, Pulse the CLR output111 1001Command 121, Reload current position111 1010Command 122, Execute motion specified in theInteractive Block111 1011Command 123, Capture reference point offset111 1100Command 124, Jog positive rotation111 1101Command 125, Jog negative rotation111 1110Command 126, Seek to reference point position111 1111Command 127, Reload configuration

[0085] An interrupt can be generated on each rising edge of the R bit as an indication that a new command for profile execution has been received. Likewise, an interrupt can be generated on each falling edge of the R bit indicating a transition to an idle condition. Module firmware can have the ability to disable this interrupt.

[0086] If the module detects a transition to idle (R bit changes state to 0) while a command is active, then the operation in progress can be aborted and, if a motion is in progress, then a decelerated stop can be performed. Once an operation has completed, the module can require a transition to idle before a new command will be accepted. If an operation is aborted, then the module can complete any deceleration before a new command will be accepted. Any change in the command_code value while a command can be active can be ignored.

[0087] The motion module's response to a PLC mode change or fault condition can be governed by the effect that the PLC exerts over the discrete outputs according to the existing definition of the PLC function. Potential module reactions are described below:

[0088] (a) The PLC changes from STOP to RUN: The operation of the module is controlled by the user program.

[0089] (b) The PLC changes from RUN to STOP: The user can select the state that the discrete outputs are to go to on a transition to STOP or that the outputs are to retain their last state. Therefore, the following possibilities exist:

[0090] 1. The R bit is turned OFF when going to STOP—any motion in progress can be decelerated to a stop.

[0091] 2. The R bit is turned ON when going to STOP—if a motion was in progress, it can be completed; if no motion was in progress, then the profile specified by the ID bits can be executed.

[0092] 3. The R bit is held in its last state—any motion in progress can be completed.

[0093] (c) The PLC detects a fatal error and turns OFF all discrete outputs—any motion in progress can be decelerated to a stop; further movement can be prevented as long as the XA_OD signal remains active.

[0094] (d) The motion module can implement a watchdog timer that will turn the outputs OFF in the event that communication with the PLC is lost. In the event that the output watchdog timer expires any motion in progress can be decelerated to a stop.

[0095] (e) In the event that the motion module detects a fatal error in the module's H/W or firmware, the P0, P1, DIS and CLR outputs can be set to the inactive state.

[0096] Command 0-63, Execute Motion Specified in Profile Block 0-63

[0097] Execution of this command can cause the module to perform the motion operation specified in the MODE field of the Profile Block indicated by the command_code portion of the command. The specifications for Interactive Block motion operations typically are not cached, so they can be read each time that the module receives this command.

[0098] In mode 0 (absolute position) the motion profile block can define from one to four steps with each step containing both the position (POS) and speed (SPEED) that describes the move segment. The POS specification can represent an absolute location, which is based on the location designated as reference point. The direction of movement can be determined by the relationship between the current position and the position of the first step in the profile. In a multi-step move a reversal of direction of travel can be prohibited and can result in an error condition being reported.

[0099] In mode 1 (relative position) the motion profile block can define from one to four steps with each step containing both the position (POS) and the speed (SPEED) that describes the move segment. The sign of the position value (POS) can determine the direction of the movement. In a multi-step move, a reversal of direction of travel can be prohibited and can result in the reporting of an error condition.

[0100] In the single-speed, continuous speed modes (2 and 3), the position (POS) specification can be ignored and the module can accelerate to the speed specified in the SPEED field of the first step. Mode 2 can be used for positive rotation and mode 3 can be used for negative rotation.

[0101] In the single-speed, continuous speed modes with triggered stop (6 and 7) and RPS inactive, the module can accelerate to the speed specified in the SPEED field of the first step. If and when the RPS input becomes active, movement can stop after completing the distance specified in the POS field of the first step. If the POS=0, then the movement can decelerate to a stop without regard to the distance traveled. Mode 6 can be used for positive rotation and mode 7 can be used for negative rotation.

[0102] In modes 8 and 9, the binary value of the RPS input can select one of two continuous speed values as specified by the first two steps in the profile block. Mode 8 can be used for positive rotation and mode 9 can be used for negative rotation. The SPEED can control the speed of movement. The POS values can be ignored in this mode. The following table defines the relationship between the inputs and the step within the profile block.

7RPSDescriptionNo current flowStep 0 controls the speed of the driveCurrent flowStep 1 controls the speed of the drive

[0103] Command 118, Activate the DIS Output

[0104] Execution of this command can result in the activation of the DIS output.

[0105] Command 119, De-activate the DIS Output

[0106] Execution of this command can result in the de-activation of the DIS output.

[0107] Command 120, Pulse the CLR Output

[0108] Execution of this command can result in the issuance of a 50 ms pulse on the CLR output.

[0109] Command 121, Reload Current Position

[0110] Execution of this command can cause the module to read the value found in the TARGET_POS field of the Interactive Block and set the current position to that value.

[0111] Command 122, Execute Motion Specified in the Interactive Block

[0112] Execution of this command can cause the module to perform the motion operation specified in the MOVE_CMD field of the Interactive Block. The specifications for Interactive Block motion operations typically are not cached, so they can be read each time that the module receives this command.

[0113] In the absolute and relative motion modes (0 and 1), a single step motion can be performed based upon the target speed and position information provided in the TARGET_SPEED and TARGET_POS fields of the Interactive Block.

[0114] In the single-speed, continuous speed modes (2 and 3), the position specification can be ignored and the module can accelerate to the speed specified in the TARGET_SPEED field of the Interactive Block.

[0115] In the manual speed control modes (4 and 5), the position specification can be ignored and the user program can load the value of speed changes into the TARGET_SPEED field of the Interactive Block. The motion module can continuously monitor this location and respond appropriately when the speed value changes.

[0116] In the single-speed, continuous speed modes with triggered stop (6 and 7) and RPS inactive, the module can accelerate to the speed specified in the SPEED field of the first step. If and when the RPS input becomes active, movement can stop after completing the distance specified in the POS field of the first step. If the POS=0, then the movement can decelerate to a stop without regard to the distance traveled. Mode 6 can be used for positive rotation and mode 7 can be used for negative rotation.

[0117] Command 123, Capture Reference Point Offset

[0118] Execution of this command can allow for the establishment of the zero position that is at a different location from the reference point position.

[0119] Before this command is issued, the reference point position can be determined and the user can jog the machine to the work starting position. Upon receiving this command, the module can compute the offset between the work starting position (the current position) and the reference point position and write that computed offset to the RP_OFFSET field of the Interactive Block. Then, the current position can be set to 0. This can establish the work starting position as the zero position.

[0120] In the event that the stepper motor loses track of its position (power is lost, the stepper motor is repositioned manually, etc.) the Seek to Reference Point Position command can be issued to re-establish the zero position automatically.

[0121] Command 124, Jog Positive Rotation

[0122] This command can allow the user to manually issue pulses for moving the stepper motor in the positive direction.

[0123] If the command remains active for less than 0.5 seconds, the motion module can issue the number of pulses specified in JOG_INCREMENT while accelerating to the JOG_SPEED. If the command remains active for 0.5 seconds or longer, the motion module can begin to accelerate to the specified JOG_SPEED. Once a transition to idle is detected, the module can decelerate to a stop.

[0124] Command 125, Jog Negative Rotation

[0125] This command can allow the user to manually issue pulses for moving the stepper motor in the negative direction.

[0126] If the command remains active for less than 0.5 seconds, the motion module can issue the number of pulses specified in JOG_INCREMENT while accelerating to the JOG_SPEED. If the command remains active for 0.5 seconds or longer, the motion module can begin to accelerate to the specified JOG_SPEED. Once a transition to idle is detected, the module can decelerate to a stop.

[0127] Command 126, Seek to Reference Point Position

[0128] Execution of this command can initiate a reference point seek operation using the specified search method. When the reference point has been located and motion has stopped, then the module can load the value read from the RP_OFFSET field of the Interactive Block into the current position.

[0129] Command 127, Reload Configuration

[0130] Execution of this command can cause the module to read the configuration/profile table pointer from the appropriate location in SM memory. The module then can read the Configuration Block from the location specified by the configuration/profile table pointer. The module can compare the configuration data just obtained against the existing module configuration and perform any required setup changes or recalculations. Any cached profiles can be discarded.

[0131] Reference Point Definition

[0132] The location known as the reference point can have one of several pre-defined sequences of module input conditions. The user can select the definition of the reference point that most closely matches the needs of the application. Once the user has selected a definition for the reference point and configured the module accordingly, the user can issue the seek reference point command. In response to this command, the module can automatically seek the reference point position, stop at the reference point and activate the CLR output for a period of 50 msec.

[0133] Potential definitions of the reference point that the user can choose from are listed below (the number of options are multiplied by four when all combinations of the RP_SEEK_DIR and RP_APPR_DIR specifications are included):

[0134] a) Mode 1: The reference point can be where the RPS input goes active on the approach from the work zone side.

[0135] b) Mode 2: The reference point can be centered within the active region of the RPS input.

[0136] c) Mode 3: The reference point can be located outside the active region of the RPS input. RP_Z_CNT can specify how many zero pulse counts on the ZP input to move after the RPS input goes inactive.

[0137] d) Mode 4: The reference point can be most likely located within the active region of the RPS input. RP_Z_CNT can specify how many zero pulse counts on the ZP input to move after the RPS input goes active.

[0138] FIGS. 5-8 are reference point seek diagrams for Modes 1-4, respectively. These reference point seek diagrams illustrate the definition of the reference point and the sequence of finding the reference point.

[0139] For FIGS. 5-8, the work zones have been located so that moving from the reference point to the work zone requires movement in the same direction as the RP Approach Direction. By selecting the location of the work zone in this way all the backlash of the mechanical gearing system can be removed for the first move to the work zone after a reference point seek.

[0140]
FIG. 9 includes two reference point seek diagrams, the upper showing the work zone in relationship to the RPS and LIM+ switches for an approach direction that can eliminate the backlash. The lower diagram places the work zone so that the backlash is not necessarily eliminated. A similar placement of the work zone is possible, although not recommended, for each of the possible search sequences in each of Modes 1-4.

[0141] User Interface

[0142] Table 5 shows the inputs, outputs and status LED's for the module.

8TABLE 5Local I/OLEDColorFunction Description—MFRedThe module fault LED shall be illumi-nated when the module detects afatal error—MGGreenThe module good LED shall be illumi-nated when there is no module faultand shall flash at a 1 Hz rate when aconfiguration error is detected—PWRGreenThe user power LED shall be illumi-nated when 24 VDC is supplied on theL+ and M terminals of the moduleInputSTPGreenIlluminated when there is currentflow in the stop input circuitInputRPSGreenIlluminated when there is currentflow in the reference point switchinput circuitInputZPGreenIlluminated when there is currentflow in the zero pulse inputcircuitInputLMT−GreenIlluminated when there is currentflow in the negative limit inputcircuitInputLMT+GreenIlluminated when there is currentflow in the positive limit inputcircuitOutputP0GreenIlluminated when the P0 output ispulsingOutputP1GreenIlluminated when the P1 output ispulsing or indicating direction.(see the description of theIN_OUT_CFG field in theConfiguration/Profile Table)OutputDISGreenIlluminated when the DIS outputis activeOutputCLRGreenIlluminated when the cleardeviation counter output isactive

[0143]
FIG. 10 is a block diagram showing an exemplary arrangement and labeling of LED's of an exemplary motion module of the present invention. FIG. 11 is a circuit diagram showing exemplary circuits for inputs and outputs and the associated user power terminals of an exemplary motion module of the present invention. This figure is a schematic representation and does not reflect the order of the terminal block screws.

[0144] The module's specification for the inputs and outputs are shown in Table 6. The operation of open drain outputs above 5VDC might increase radio frequency emissions above permissible limits. Radio frequency containment measures might be required for certain systems or wiring. Depending on the pulse receiver and cable, an additional external pull up resistor might improve pulse signal quality and noise immunity.

9TABLE 6DescriptionSpecificationPower SupplyInput Supply Voltage11-30 VDCInput Supply Current (5 VDC ± 10%)Load Current12 VDC Input24 VDC Input0 mA (no load)120 mA, max70 mA, Max200 mA (rated load)300 mA, max130 mA, maxcurrent limit (0.5 to 1.5 A)700 mA, max350 mA, maxIsolation Tested Value500 VAC for 1 minute(Input Power to Logic)(Input Power to Inputs)Reverse Polarity:on L+ input power and on +5VDC output powerInput VoltageMaximum Continuous PermissibleSTP, RPS, LMT+, LMT−30 VDCZP30 VDC at 20 mA, maximumSurge35 VDC for 0.5 secRated ValueSTP, RPS, LMT+, LMT−24 VDC at 4 mA, nominalZP24 VDC at 15 mA, nominalLogic “1” signal (minimum)STP, RPS, LMT+, LMT−15 VDC at 2.5 mA, minimumZP3 VDC at 8.0 mA, minimumLogic “0” signal (maximum)STP, RPS, LMT+, LMT−5 VDC at 1 mA, maximumZP1 VDC at 1 mA maximumInput Delay TimesSTP, RPS, LMT+, LMT−0.2 to 12.8 msec, user selectableZP2 μsec minimum

[0145]
FIG. 12 is a pulse out generation block diagram for an exemplary embodiment of the motion module. Table 7 provides functional descriptions for various components of the motion module block diagram of FIG. 12.

10TABLE 7MnemonicDescriptionCPU accessm specpulse width specification, number of clocks per pulse.written via15 bits + sign, sign bit set is an errorpipelineread backprovidedm spec lsb16 bit less significant bit extension of pulse width specification, accumulatesnot accessiblefractional delta width changesdm spec32 bit signed, fixed point delta m (delta pulse width) specificationwritten viapipelinem cntrpulse width counter, loaded with m spec, counts down through 0not accessible{ (m + 1) clocks per pulse }m hi cntrloaded with right shift value of m spec, counts down through 0not accessiblepulse out is high when any bit is 1 (negligible asymmetry).pulse counter (Counts on leading edge of each pulse, from loaded value down to 0.pc)(n loaded to pc results in n pulses executed.)not accessiblepulse countValue loaded to pulse count down counter, loaded from pipelinespecbits 31:30 of pulse count spec, in combination with RUN command, select last(pc spec)step and continuous run modeswritten viapipelinepc[31:30]spec and pipeline copieswrite viaspec copy specifies current operation as:pipeline00 - do nothing/STOPrun mode01 - run by steps, pc counts down to 0, then loads new dm and pc from pipeline10 - run continuous, pc counts down . . . may roll over11 - last step, pc counts down to 0, then stopsAfter any stop, re-start requires the state machine must be brought to idle stateby a STOP command, then a load of the pc and a xfr_pipeline to set up for nextmove.pc pipelineValue loaded to pc spec when pulse count = 0 or on xfr_pipeline. Initiating awrite onlyrun_steps operation with a pulse count specification of 0 is an error.dm pipelinevalue loaded to dm spec when pulse count compares to spec or on xfr_pipelinewrite onlym spec pipelinevalue loaded to m spec when pulse count = 0 or on xfr_pipeline. Typically runwrite onlytime changes in pulse width are accomplished with the delta pulse widthmechanism rather than direct loads of m pipeline.pipeline refreshRecords for m, dm, pc pipeline values if new value available for load. Set fornot accessibleeach register on write to lsb. NO values are transferred unless the pc lsb hasbeen written.xfr pipelineDecode address on write only - forces load of dm, pc, and m pipelines to< no data >working registers if the pipelines have been updated. Used to set up workingregister + pipeline register for start up, or to escape from run continuous mode.Also used to escape from m overflow condition by forcing pipeline load to m,dm, and pc as required. Synchronized internally to be effective after currentpulse completes.pc read bufPulse count read buffer.read onlym read bufcopied from m_spec after each update. locked by msb read, released by lsbread onlyread.trip counter lsbprobably not needed . . . divides down pulse count to rate that CPU ASIC canread onlycount if not 200 KHz (need to investigate)Reset state ofAddress assignmentsall registers is0:3 command/status registers0.4:7 dm_pipe8:B pc_pipeC:D m_pipeE:F unused10 xfr_pipeline11 interrupt ack address12 rps attributes13:1B reserved1C:1D m_spec read buffer1E:1F m_spec read buffer overmap-- 28:2B pc_actual read buffer (deleted)commandbitBits 0,1 are commands written from uP, read back as written, notchanged by machine.Bits 2 . . . 5 reflect machine response.See sequence descriptions below.register7Unusedread/write,6RPS, after filter, 1 = current flow at input pointchanged by51 = accel_bar, action freezing pulse width, barring acceleration ordecelerationboth CPU and41 = active_pulse, indicates pulses are in progressstarts with actual leading edge of 1st pulsepersists until low time of last pulse is completeFPGA31 = abort_ackAbort command processed, pipeline rupt and accel_bar valid. Exit fromrun_steps has been completed, exit from run_continuous is blocked.address C0021 = run_ack, transition to run state acknowledged by machine1st pulse of current sequence is committedcleared during last pulse in finish or estop states11 = abort_cmd, abort command from uP . Exit to abort state, thence torun_continuous if in run_steps. Block exit from run_continuous untilcleared.01 = run_cmd, run command from uP0 = stop command from uPrps attributebitregister7:5RPS filter: 0 = 2 us, 1 = 200 us, 2 = 400 us, 3 = 800 us, 4 = 1.6 ms5 = 3.2 ms, 6 = 6.4 ms, 7 = 12.8 ms(physical delay of input point will add several microseconds)read/write4RPS_falling_edge: 1 = xfr_pipeline on rps falling edgeaddress C123RPS_rising_edge: 1 = xfr_pipeline on rps rising edge2RPS pulse catch: 1 = capture next change in RPS. Allow no furtherchanges in RPS_filt to uP until this bit is cleared.1Spare0Sparedirectionbitattribute7:3spareregister2clock source: 0 = sys clk1 = external clock (CPU PCLK)read/write1dir mode: 0 = output 0 pulse for up, output 1 pulse for down1 = output 0 pulsing, output 1 = 1 for upaddress C010dir: 0 = count upbits [2:0] should1 = count downnot be changedduringoperationInterrupt/bitFPGA svc_rqst interrupt = OR of all bits in this register that areselected (=1) by the interrupt mask register. Latched edge bits arecleared by write of 1 to the corresponding bits in the interrupt ackregister. Status level bits must be cleared by appropriate correctiveaction. Changes in the mask do not change the prior state of latched edgebits, but will mask/unmask levels.status register7pc underflow: Pulse down counter received a pulse while at zero value.CPU can note pc underflow and record if interested. Latched edge. Thiswill happen routinely, for example, for a run steps transition to runcontinuous.read only6m overflow/underflow: 1 = illegal result (negative number) occurredon attempt to apply dm to m. Refuse to load illegal value to m_spec,continue running constant m, last legal value. Status level. Requireschange in m or dm pipe values and xfr_pipeline to load corrective m ordm from pipeline.address C025pipeline starved: A transfer pipeline was requested (by a counted-pulserun step complete, an rps edge, or a commanded xfr) without a refreshedpc indicating a completed pipeline load. Block pipeline loads, continuerunning with last value. Latched edge. Note that clearing this bit clearsthe interrupt but does not alter the basic run time state machine, which isstuck on a run_step that will never complete. Recovery requires an abortcommand to escape from run_steps mode and a xfr_pipeline to load m,dm, and pc values as needed to start recovery step.Interrupt4RPS falling edge: 1 = an RPS falling edge has occurred, and has notbeen cleared by a write to the interrupt clear register. Latched edge.mask register3RPS rising edge: 1 = an RPS rising edge has occurred, and has not beencleared by a write to the interrupt clear register. Latched edge.read/write2Qx.7 falling edge: 1 = falling edge on Qx.7 in the dual port RAM sincethe last clear of this bit by a write to the interrupt clear register. Latchededge.(QBx = Page 0, R 12 from bus or DP-RAM address 4 in Slave space)address C031Qx.7 rising edge: 1 = rising edge on Qx.7 in the dual port RAM sinceInterrupt Ackthe last clear of this bit by a write to the interrupt clear register. LatchedWrite onlyedge.Address C11(QBx = Page 0, R12 from bus or DP-RAM address 4 in Slave space)0pipeline empty: 1 = there are no registers currently refreshed andavailable for pipeline transfer. Note this bit = 0 if ANY pipeline registeris refreshed. Refresh is posted on lsb write. Status level.Q refresh7Bit 7 is set on any write to Q from slave interface. Bit 7 is cleared by anydetectwrite from the local processor. Note that the Qx.7 rising edge/fallingC13edge interrupt action can be determined by the state of a Qx.7 flip flop inthe em bus slave hardware, not by the value of the bit in the dual portRAM. Writes to Qx from the uP bus might result in apparentlyinconsistent operation.

[0146] State Diagram

[0147] A state diagram for the motion module can include the following variables:

[0148] run_q: qualified run command, command register content changes are recognized at chosen safe times—generally in sub-states below the top level diagram.

[0149] X0=stop

[0150] 01=run

[0151] 11=abort

[0152] modes from pc(31:30)

[0153] run_steps, last_step, run_cont (continuous), mode_stop

[0154] xfr_pipeline : command to load refreshed pipe values to working registers, commanded by CPU or RPS edge.

[0155] run_cld : run instruction to pulse generator state machine.

[0156] X0=stop

[0157] 01=run

[0158] 11=abort

[0159] pc_capture_time: a timing strobe, name comes from original use to identify when pulse counter contents are stable for read/capture. Now used only for state transition timing.

[0160] States:

[0161] idle: do nothing, exit on xfr_pipeline command to init_load

[0162] init_load: move initial pipeline values to working registers, wait for run command to transition.

[0163] return to idle if stop command or mode_stop

[0164] go to run_a_step to start a stepped profile

[0165] go to run_continuous for steady speed operation

[0166] run_a_step: enable pulse machine, set run_ack, periodically examine pulse count & run command, exit on:

[0167] if run command=stop, exit to estop

[0168] if run command=abort, exit to abort

[0169] when pulse count=0, exit to pipe_load or finish as chosen by run_steps or

[0170] last_step

[0171] pipe_load: load refreshed pipe values to working registers, examine new pc[31:30] to determine next state:

[0172] return to run_a_step to continue a stepped profile

[0173] go to run_continuous for steady speed operation

[0174] go directly to finish

[0175] if pc not refreshed, clear all pipe refresh flags and return to source state

[0176] run_continuous: enable pulse machine, acknowledge run or abort command, periodically examine run command and xfr_pipeline.

[0177] on xfr_pipeline go to pipe_load for new information

[0178] if run command=stop, exit to estop

[0179] abort: instruct pulse machine to freeze pulse width, go to run_continuous

[0180] estop: disable pulse machine ability to start new pulses, clear run_ack, exit to idle on pulse complete.

[0181] finish: disable pulse machine ability to start new pulses, clear run_ack, exit to idle on pulse complete and run command=stop.

[0182] Certain potential operating sequences for the pulse generator module are shown in Table 8, below.

11TABLE 8ProcessorFPGANORMAL STEPPED RUN SEQUENCEpc_spec[31:30] = run by stepsStart from reset --- all command registerscleared. Pipeline and spec data registersunknown.(Some may be RAM, not easily initialized.)Write attribute register with directionSets pulse up/down and direction onselections.pulse_out[1:0]Write m, dm, pc pipelines.Note pipeline refresh per each value lsb.Write xx to xfr_pipeline address.Transfer pipeline values for written registersto spec registers. Clear pc.Write dm, pc pipeline.Note pipeline refresh on lsb write of eachvalue.Write run_cmd <= 1load m_spec to pulse width counterstart pulse out, set run_ack bitduring each pulse, m_spec <= m + dmat end of each pulsepc = 1,m_cntr <= m_specwhen pc= 0,load fresh values from pipeline (willnot load unless new value in pipe)clear pipeline refresh flagsset pipeline empty interruptWrite dm, pc pipeline.Note pipeline refresh on lsb write of eachvalue.Write to rupt_ack addressClear interrupt.CPU can check status by readingContinue pulse out and pipeline loads asrun_ack = 1 to indicate startedabove until pc[31:30] in spec register indicateactive_pulse = 1 to indicate still runninglast step.error register (see below)when last step and pc = pc_specm_spec (pulse width)run_ack <= 0pc (pulse count)stop pulse outmsb read latches consistent word/long valuedo not clear pcactive_pulse <= 0 when last pulsecompletewrite run_cmd <= 0return to idle state, ready to start newsequenceStepped Run ABORTWrite abort cmd <= 1ABORT recognized on next pulse rising edge.All pipeline loads inhibited.New pipeline request interrupt inhibited.pulse width changes inhibited, on followingfalling edge, dm_bar <= 1.On second pulse rising edge,abort_ack <= 1 to indicate transition complete.(note this could violate S curve 2nd derivativelimits, but less severe than derivative signreversal)Reads m_spec, checks status of pipelinerequest interrupt, infers dm_specloads corrective action dm, pc, etcclear ABORT bit to re-enable xfr_pipelineon next pulsewrites xx to xfr_pipeline addresstransfers new pipeline data to specregisterscontinues running in normal RUN stateCONTINUOUS RUN SEQUENCEcpu has loaded pc_spec[31:30] =In RUN mode already,run continuous to pipeline after accelerating inpipeline request interrupt asserted.a stepped run sequence.Runs pulses per pipelined specs for m, dm.pc counts up continuously, with no pipelineloads. pc overflow posts error bit and interruptto allow CPU to count roll-overs.writes next values of m, dm, etc.notes refreshed pipeline valueswrite xx to rupt_ack addressclears pipeline request interruptcontinues to run per m, dm specs.pc continues to count up.No further pipeline loads or rupts .write xx to xfr_pipeline addressOn next pulse, xfr refreshed pipeline values.Run per new values m, dm, pc, etcMonitor status, change speed (m) etc on theResponds to xfr pipeline commands,fly by loading pipeline and xfr_pipelineotherwise runs with no change.commands.Based on whatever criteria, decides to startdeceleration.Write dm, pc pipelines with values for first stepof deceleration to come.pc[31:30] in pipeline will typically = run bystepswrite xx to xfr_pipeline addressOn next pulse, xfr refreshed pipeline values.Run per new values m, dm, pc, etc, includingnew pc[31:30] which typically will changemode back to run by steps.E-STOPWrite command register to STOP.Current pulse completes. Then pulse stops.CPU can check status per above.pc and m_spec not changed.

[0183] For certain motion modules, potential CPU ASIC pin assignments and address mapping are provided in Table 9, below:

12TABLE 9CPU Pin FunctionMotion Module UsageNon-Volatile CSUp to 256 KB Flash or OTP. 42096 bytes of this storage will berequired to load the FPGA program.RAM CS32 KB RAMFree Chip SelectMotion FPGA0:3FF + 800 = 800:BFF Intelligent Module DP RAMC00:C1 D Motion Register Space0:3 command/status registers0: command register1: direction attributes register2: interrupt/status register3: interrupt mask register4:7 dm_pipe8:B pc_pipeC:D m_pipeE:F m_pipe overmap10 xfr_pipeline (command on write)11 interrupt ack (ack per bit in write byte)12 rps attributes register13 q refresh detector14:1B reserved for additional readbacks1C:1D m_spec read buffer1E:1F m_spec read buffer overmap28:2B pc_actual read buffer (deleted)10.0E-Stop (all inputs = 1 for power flow in input point)10.1Limit+10.2Limit−10.3Pulse up or pulse, input into High speed counter (4) of pulse events10.4Pulse down or direction, input into High speed counter (4)of pulseevents. 1 = count up in pulse & direction mode.10.5User power OK10.6Pulse up or pulse: input to a High speed counter (1) of pulse events.10.7Pulse down or direction: input to a High speed counter(1) of pulseevents.11.0(pulled up for no action)11.1RPS: gates high speed counter (1) for counting pulse out during RPS11.2Z-pulse/High speed counter (2) Z-pulse counter11.3FPGA Init. 1 = FPGA Configuration reset in progress or configurationerror. Use pulse catch or handshake with Q1.1 to verify that aconfiguration reset occurred in response to Q1.1 toggle.11.4(pulled up for no action)11.5RPS: gates High speed counter (2) for counting Z pulse during RPSQ0.0, Q0.1SpareQ0.2User driven motor disable (1 = current flow in sinking output)Q0.3Deviation counter clear (1 = current flow in sinking output)Q0.4Module Good LED, 1 = LED ONQ0.5spareQ0.6Slave Enable, 1 = bus response enabledQ0.7Motion Reset, 0 = Reset motion registers, counters, etc.Q1.0Configuration Enable: 1 => write cycles to non-volatile chip selectspace load FPGA configuration data to FPGA. Load is sequential, 1write per byte, for full 42096 bytes. (Other cycles may intervene, buteach write to FPGA space increments internal address pointer).Motion module CPU reset = 200 ms max from power up.Spec delay from “power up” to Slave ready: 500 ms.Master cpu reset = 140 ms min.Time available for load = 140 + 500 − 200 = 440 ms.Estimated 86 ms required.Q1.1Configuration Reset: 0 => Reset FPGA Configuration. Clears allFPGA configuration RAM, initializes RAM address pointer. Sense ischosen so that watchdog timeout clears FPGA.Power Fail PendingEM Bus Out DisableWatch Dog In555 timer oscillator, clock time ˜944 uS, range 600-1300 us.INT4Motion service requestRXD/TXDOn jumper stakes for flash download communication.PCLKAlternate time base to motion pulse width counter for low speedoperation. It is not intended that the time base be changed from 33MHz to PCLK, or for PCLK to change in frequency, during pulses.

[0184] Pulse Calculations

[0185] A number of motion scenarios can be visualized. One scenario of particular difficulty emerges when the distance an actuator is to travel is short and insufficient to achieve maximum speed. For this scenario, at least three cases can be recognized.

[0186] Generally, a linear slope can be defined by F_start, F_end (F0), and t_a (the acceleration time), such that

[0187] the slope a=(F_end−F_start)/t_a.

[0188] Also, n_end=number of pulses from F_start to F_end.

[0189] In the case of an S-curve:

[0190] t_j=jerk time, a_max=(F_end−F_start)/t_a,

[0191] k=da/dt_max=a_max/t_j

[0192] The user can specify an n_target (nt) that corresponds to the desired motion distance.

[0193] Case 1: Linear Acceleration, Acceleration=Deceleration

[0194]
FIG. 13 is a graph of frequency versus time for an exemplary embodiment of the present invention, showing this case. The problem case is identified by n_target<2*n_end.

[0195] Solution:

[0196] Choose way point n1 just less than nt/2, with associated F1.

[0197] Profile consists of acceleration F_end to F1, deceleration from F1 to F_end, with

[0198] an intermediate constant speed step of n_cs pulses, n_cs=nt−2*n1.

[0199] Case 2: Linear Acceleration, Acceleration a1 not Equal to Deceleration a2.

[0200]
FIG. 14 is a graph of frequency versus time for an exemplary embodiment of the present invention, showing this case. For deceleration slope: F_end is still the high frequency, n is counted up from low speed, just as if it was an acceleration slope. Problem case is identified by n_target<n_end—1+n_end—2.

n

1
=½a1t12+F0t1; n2=½a2 t22+F0t2; t2=(a1/a2)t1

[0201] For very short moves, F0*t might be an appreciable part of the total move.

n

t

=F

0
(t1+t2)+½a1t12+½a2t22, or

a

1
/2(1+a1/a2)t12+(1+a1/a2)F0t1−nt=0

a

1
/2t12+F0t1−nt/(1+a1/a2)=0

t

1

=−F

0

/a

1
+sqrt{F02/a12+2nt/(a1(1+a1/a2))}

[0202] For realizable motions there is always a positive number under the radical and the realizable root is always found by adding a positive square root to the initial term.

[0203] Use the above expression to compute t1. Now, finding n1=½a1t12+F0t1, choose way point just less than n1 on the acceleration slope, with associated speed F1. Interpolate as required on the deceleration slope to match speed between acceleration and deceleration slopes, finding an n2 on the decel slope. As before, find the length of a constant speed step that links the two slopes, n_cs=nt−n1−n2. The total move is accelerate for n1 steps, a (short) constant speed step n_cs, decelerate for n2 steps.

[0204] Case 3: Short S-curve—distance n not sufficient to complete S-curve to max speed

[0205]
FIG. 15 is an S-curve graph of frequency versus time for an exemplary embodiment of the present invention, showing this case.

[0206] For the case of a short S-curve: tj=jerktime, amax=(F_end−F_start)/t_a, k=da/dt_max=amax/tj

[0207] In the initial curve region:

[0208] a=k t

[0209] F=F0+½k t2

[0210] F change with jerk time tj: Fj=½k tj2

[0211] For the S-curve, recall there is an Fj associated with jerk time, tJ, and that the change in F during the curve region is symmetrical during the increasing and decreasing acceleration portions of the curve.

[0212] One procedure is to solve for the simple trapezoid as before, identifying a maximum speed F1 reached at count n1 and time t1. Then, reduce the maximum frequency to a new Fmax which can be achieved in the same accel/decel time t1. The n_cs (constant speed region) now gets enlarged a bit from the simple trapezoid case, such that: n_cs=nt−2*n(Fmax).

[0213] If t1>=2 tj: There is a linear region+2 full jerk times. Obtain Fmax=F0+2*Fj+(t1−2tj)*amax. Apply standard S curve calculation to Fmax to get n vs. v up to Fmax. Then the constant speed distance is n_cs=nt−2 * n(fmax)

[0214] If t1<2 tj: There will be a pure S-curve with an inflection point at t1/2. The ΔF around the inflection point: Finflection=½k (t1/2)2, and Fmax=F0+2*Finflection=F0+k(t1/2)2. Apply the standard S curve to Fmax and find n_cs as before.

[0215] What follows is an exemplary pseudo-code subroutine listing for determining a plurality of target frequencies, pulse widths, differential pulse widths, and pulse counts, for a portion of a motion control profile, that portion being a single change in frequency according to a specified beginning frequency, ending frequency, maximum acceleration, and maximum change in acceleration(that is, an S-curve case) such as that described above. The target frequencies are distributed semi-logarithmically, with constraints to achieve realizable minimum time intervals, and maximum time intervals consistent with a desired level of accuracy in representation of the upper frequency portion of the S curve. All data input and output has been removed to clarify the algorithm.

[0216] Rem: S-curve version

[0217] Rem: Generate table of target pulse counts and pulse widths with interpolation factor

[0218] Rem: divide up the ramp into steps (way points) of equal percentage changes in F

[0219] Rem: for each step, find the target F, pulse width, pulse count, and change in pulse width

[0220] Rem: per pulse needed to get there while staying on the slope

[0221] Rem:

[0222] Rem: limit change in acceleration per Jerk Time spec—da_dt=a_max/Jerk_time

[0223] Rem: keep a working buffer of steps, selectively plot points

[0224] Rem: so that a complete slope can be recorded

[0225] Rem: use f_end/f_start ratio to set target steps size

[0226] Rem: 1.15{circumflex over ( )}32 ˜100; 1.1{circumflex over ( )}32 ˜20; 1.1{circumflex over ( )}48 ˜100

[0227] Rem: e.g., for a 5% start speed (1/20), 32 steps will give ˜10% dF/F

[0228] Rem: initial dF/F/step=exp (log (fmax/fmin)/max_steps)

[0229] Rem: if step<1 ms set step time to 1 ms

[0230] Rem: if step<1 pulse set step time to 1 pulse

[0231] Rem: when F appreciable, set dF/F to a moderate mid-range value

[0232] Rem: then go to tighter spacing of steps in upper jerk range

[0233] Rem: m=clocks/pulse, n=pulse count at each step, dn=delta n per step

[0234] Dim m(100) As Long

[0235] Dim n(100), dn As Long

[0236] Rem: a step is a pre-calculated way point, controlling multiple pulses

[0237] Dim step As Integer, pulse As Long

[0238] Rem: m_sum records actual elapsed time in clocks by adding m's for each pulse

[0239] Rem: m_fix: shifted fixed point that accumulates fractional changes in pulse width

[0240] Dim m_sum(100), m_fix As Long

[0241] Rem: fixed point shift is decimal for ease of de-bug, will be binary factor (e.g., 1024) in use

[0242] Dim fix_shift As Long

[0243] fix_shift=1000

[0244] Rem: elapsed time to beginning of step, time/step, jerk time

[0245] Dim t(100), dt, t_j As Double

[0246] Rem: dm is shifted fixed point fractional change in pulse width/pulse

[0247] Dim dm(100) As Long

[0248] Rem: frequency at step, jerk frequency associated with jerk time, derivative of a

[0249] Dim f(100), f_j, da_dt As Double

[0250] Dim i, j, k, clear_row As IntegerRem: misc indices

[0251] Dim m_dt, m_bar As Double

[0252] Rem: input parameters: acceleration time, frequencies

[0253] Dim t_a, F_start, F_end, F_clock As Double

[0254] Rem: dF/F factor to compute equal percentage steps

[0255] Dim dF_factor As Double

[0256] Dim max_steps As Integer

[0257] Dim plot_row, plot_time, plot_f, plot_m, plot_n As Integer

[0258] Rem: starting values for stepping

[0259] Rem: time is at the beginning of a pulse & step

[0260] t(0)=0

[0261] Rem: m is the count for the pulse that is executing

[0262] Rem: dm is applied at the end of a pulse . . . that is

[0263] Rem: the way point pulse is executed in full

[0264] m(0)=Int(F_clock/F_start)

[0265] f(0)=F_start

[0266] Rem: n is the count of pulses completed, starts at 0

[0267] n(0)=0

[0268] Rem: a_max is mid-point slope, da_dt is limit set by jerk time a_max=(F_end−F_start)/t_a

[0269] da_dt=a_max/t_j

[0270] Rem; f_j is frequency change associated with jerk time

[0271] f_j=0.5*a_max*t_j

[0272] Rem: a_f is acceleration, function of frequency

[0273] a_f=0

[0274] Rem: accumulator for all clocks in all pulses

[0275] m_sum(0)=0

[0276] Rem: set expectation for early dF steps along ramp

[0277] f_ratio=F_end/F_start

[0278] dF_factor=Exp(Log(f_ratio)/max_steps)

[0279] f_ddF=F_end * 0.5

[0280] Rem: ask about—can profile (speed, position settings) be changed permanently from TD200?

[0281] Rem: Round Off Error Control

[0282] Rem: on each step, seek to re-establish correct SLOPE from current position

[0283] Rem: rather than close adherence to steps vs. time

[0284] Rem: choose next F for each step as dF/F*F (last step)

[0285] Rem: choose a (=dF/dt) for step as value for chosen F as ideal result

[0286] Rem: from applying da_dt

[0287] Rem: delta t for this step chosen as dF/a

[0288] Rem: dm (fixed point integer) determined to reach from actual m

[0289] Rem: of last step to new ideal m in ideal time dt

[0290] Rem: new m actual figured as n * dm added on to previous actual

[0291] Rem: new t actual figured from accumulated m

[0292] Rem: new f actual figured from m actual

[0293] slope_complete=False

[0294] step=0

[0295] Rem: main stepping loop−1 loop per way point

[0296] Do Until slope_complete

[0297] step=step+1

[0298] Rem: find the target frequency, time, counts, for end of step

[0299] Rem: clamp dF_factor for mid-range, then reduce for upper jerk region

[0300] f(step)=f(step−1)*dF_factor

[0301] If f(step)>=0.99*F_end Then

[0302] f(step)=F_end

[0303] slope_complete=True

[0304] End If

[0305] Rem: current value of a(f), sub for a(t), determined separately for

[0306] Rem: lowerjerk range

[0307] Rem: mid range

[0308] Rem: upper jerk range

[0309] Rem: first if covers F_end<2*f_j, hands control early to last else if

[0310] If f(step)<(f(0)+f_j) And f(step)<(F_end/2) Then

[0311] a_f=Sqr(2*(f(step)−f(0))*da_dt)

[0312] ElseIf f(step)<(F_end−f_j) Then a_f=a_max

[0313] ElseIf Not slope_complete Then

[0314] a_f=Sqr(2*(F_end−f(step−1))*da_dt)

[0315] dF_factor=1.01 +a_f/a_max*0.05

[0316] End If

[0317] Rem: find provisional time dt for next step to this target F

[0318] Rem: if needed, adjust step time>1 ms and>1 pulse time

[0319] Rem: if step time is increased to meet mins, adjust target F and dF_factor

[0320] dt=(f(step)−f(step−1))/a_f

[0321] If dt<0.001 Or (dt<(1/f(step−1))) Then

[0322] dt=max(0.001, 1/f(step−1))

[0323] t(step)=t(step−1)+dt

[0324] Rem: since t changed, choose next f for ideal adherence to t

[0325] f(step)=a_f*(t(step)−t(0))+f(0)

[0326] Rem adjust step ratio to reach final F from current step

[0327] f_ratio=F_end/f(step)

[0328] If step<>max_steps Then dF_factor=Exp(Log(f_ratio)/(max_steps−step))

[0329] Else

[0330] t(step)=t(step−1)+dt

[0331] End If

[0332] Rem: find next m for chosen f

[0333] m_ideal=F_clock/f(step)

[0334] Rem: find total clocks to next step

[0335] m_dt=dt*F_clock

[0336] Rem: average m/pulse to next step

[0337] m_bar=(m_ideal+m(step−1))/2

[0338] Rem: pulses to next step (dn) is total clocks divided by average m

[0339] dn=Int(0.5+m_dt/m_bar)

[0340] n(step)=n(step−1)+dn

[0341] Rem: with new m and dn, find dm/pulse

[0342] Rem: change radix of dm fixed point to maintain precision

[0343] Do

[0344] dm(step−1)=Int(fix_shift*(m_ideal−m(step−1))/dn)

[0345] If (Abs(dm(step−1))<100) Then fix_shift=fix_shift*10

[0346] Loop Until Abs(dm(step−1))>=100

[0347] Cells(plot_row, plot_dm).Value=dm(step−1)

[0348] Rem: compute true m(step)and t(step) by adding up dm's as hardware will

[0349] m_fix=CLng(m(step−1))*fix_shift

[0350] m_sum(step)=m_sum(step−1)

[0351] plot_ref=m_fix

[0352] Rem: for each pulse, add dm to m, accumulate total clocks

[0353] For pulse=n(step−1)+1 To n(step)

[0354] m_sum(step)=m_sum(step)+Int(m_fix/fix_shift)

[0355] m_fix=m_fix+dm(step−1)

[0356] Next pulse

[0357] Rem: end for/next loop of pulses between steps (way_points)

[0358] Rem: replace ideal m and t for this step with actuals

[0359] m(step)=m_fix/fix_shift

[0360] f(step)=F_clock/m(step)

[0361] t(step)=m_sum(step)/F_clock

[0362] Loop

[0363] Rem: end looping on steps (way_points) until slope_complete

[0364] End Sub

[0365] Although the invention has been described with reference to specific embodiments thereof, it will be understood that numerous variations, modifications and additional embodiments are possible, and accordingly, all such variations, modifications, and embodiments are to be regarded as being within the spirit and scope of the invention. For example, programming of the motion module can occur over the Internet. Likewise, transmission of the pulse train can occur over the Internet. References specifically identified and discussed herein are incorporated by reference as if fully set forth herein. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature, and not as restrictive.

	Number	Date	Country
	60346488	Jan 2002	US
	60384979	Jun 2002	US

State Machine for a pulse output function

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