SYSTEM AND METHOD FOR MANAGING AUTOMATION SYSTEMS WITH SYNCHRONOUS ELEMENTS
A method for managing an automation system involving a plurality of synchronous elements, the method including: designating a master signal for controlling the plurality of synchronous elements; determining a communication protocol for communicating the master signal to the plurality of synchronous elements; determining a compensation profile for each of the plurality of synchronous elements based on the communication protocol and characteristics of each of the plurality of synchronous elements; and utilizing the compensation profile in the control of the automation system. A system for managing an automation system involving at least two synchronous elements, the system including: a first controller for controlling a first synchronous element; a second controller for controlling at least a second synchronous element; a configuration module for configuring at least the second synchronous element; a memory storing instructions that, when executed by the second controller, cause the second controller to perform the method above.
1 . A method for managing an automation system involving a plurality of synchronous elements, the method comprising:
designating a master signal for controlling the plurality of synchronous elements;
determining a communication protocol for communicating the master signal to the plurality of synchronous elements;
determining a compensation profile for each of the plurality of synchronous elements based on the communication protocol and characteristics of each of the plurality of synchronous elements; and
utilizing the compensation profile in the control of the automation system.
2 . A method according to claim 1 , wherein the compensation profile comprises a lag time between the sending of the master signal and the receipt, of the master signal at each synchronous element.
3 . A method according to claim 1 , wherein the compensation profile is also based on characteristics of the data being sent.
4 . A method according to claim 1 , wherein the compensation profile comprises compensation based on at least one of commanded position, commanded velocity, and commanded acceleration.
5 . A method according to claim 4 , wherein the compensation profile comprises compensation for jerk.
6 . A method according to claim 1 , wherein the compensation profile comprises predetermined compensation graphs to reduce computation time and complexity.
7 . A system for managing an automation system involving at least two synchronous elements, the system comprising:
a first controller for controlling a first of the synchronous elements;
a second controller for controlling at least a second of the synchronous elements;
a configuration module for configuring at least the second synchronous element;
a memory storing instructions that, when executed by the second controller, cause the second controller to:
designate the first controller as a master signal for controlling the plurality of synchronous elements;
determine a communication protocol for communicating the master signal to the plurality of synchronous elements;
determine a compensation profile for each of the at least two synchronous elements based on the communication protocol and characteristics of each of the plurality of synchronous elements; and
utilize the compensation profile in the control of the automation system.
8 . A system according to claim 7 , wherein the compensation profile comprises a lag time between the sending of the master signal and the receipt of the master signal at each synchronous element.
9 . A system according to claim 7 , wherein the compensation profile is also based on characteristics of the data being sent.
10 . A system according to claim 7 , wherein the compensation profile comprises compensation based on at least one of commanded position, commanded velocity, and commanded acceleration.
11 . A system according to claim 10 , wherein the compensation profile comprises compensation for jerk.
12 . A system according to claim 7 , wherein the compensation profile comprises predetermined compensation graphs to reduce computation time and complexity.
13 . A system according to claim 7 , wherein the configuration module provides data to the second controller regarding communication protocols and compensation profiles.