Browse Prior Art Database

Robot Axis Servo Controller Program

IP.com Disclosure Number: IPCOM000047157D
Original Publication Date: 1983-Oct-01
Included in the Prior Art Database: 2005-Feb-07
Document File: 2 page(s) / 34K

Publishing Venue

IBM

Related People

Glaeser, RD: AUTHOR [+3]

Abstract

This set of programs is used to control the movement of a single axis 10 of a robot using a microprocessor. This dedicated high speed processor samples the current axis position continuously. It then makes fine adjustments to insure an accurate path and an accurate placement of the axis at the required target position, as indicated in the figure. The Robot Axis Control Program (RASCO) 12 consists of the following modules and associated functions: Mainline - This module controls the execution of all RASCO modules. It also determines the operation phase starting with the "build phase" through the "hold phase". Master Interface - This module controls the interface between the host processor and RASCO via a Link.

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Robot Axis Servo Controller Program

This set of programs is used to control the movement of a single axis 10 of a robot using a microprocessor. This dedicated high speed processor samples the current axis position continuously. It then makes fine adjustments to insure an accurate path and an accurate placement of the axis at the required target position, as indicated in the figure. The Robot Axis Control Program (RASCO) 12 consists of the following modules and associated functions: Mainline - This module controls the execution of all RASCO modules. It also determines the operation phase starting with the "build phase" through the "hold phase". Master Interface - This module controls the interface between the host processor and RASCO via a Link. This function provides the axis controller 14 with the desired "target position and speed" from the host and returns an "Operation Complete Indicator" to the host when the target is reached. Initialize - This module initializes all hardware and software registers, it stops the drive motor and moves the drive table and variables from ROM to RAM. Build - This module builds a profile of the axis movement, in the microprocessor storage, from the current position to the desired target position at the requested speed. This profile is matched against the current ADC (analog-to-digital converter) 16 feedback while the axis is in flight. The error correction (difference between profile position and actual position) is used to drive the motor and hold the axis 10 movement on course. ADC - This module reads...