US 12,468,280 B2
Step-based systems with multiple actuators
Ian Holmes, Essex (GB)
Assigned to MAREL LIMITED, Essex (GB)
Appl. No. 17/925,383
Filed by MAREL LIMITED, Essex (GB)
PCT Filed May 20, 2021, PCT No. PCT/GB2021/051228
§ 371(c)(1), (2) Date Nov. 15, 2022,
PCT Pub. No. WO2021/234397, PCT Pub. Date Nov. 25, 2021.
Claims priority of application No. 20176086 (EP), filed on May 22, 2020.
Prior Publication US 2023/0288901 A1, Sep. 14, 2023
Int. Cl. G05B 19/402 (2006.01)
CPC G05B 19/402 (2013.01) [G05B 2219/37333 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A control system for coordinating movement of a set of actuators each configured to operate in discrete steps to carry out movement in a machine, the control system, comprising:
a controller for each actuator, containing a table of values relating times taken to reach each successive step for each actuator during acceleration and deceleration, for loads within capacity of the actuator; and
a coordinator configured to determine or receive a position of each actuator and to receive or generate data concerning a waypoint, being positions and corresponding speeds for the actuators;
wherein the controllers are further configured to raise, lower or maintain the speeds of the actuators at each step by reference to the respective tables, by calculating a number of steps each actuator must travel to reach the waypoint and by raising, lowering or maintaining respective speeds to ensure each actuator is moving at a desired speed at the waypoint, and
wherein also the coordinator is configured to start the movement of at least one actuator on the basis of a point reached by another actuator, so that both actuators reach the waypoint at a same time.