Multi-DSP, multi-functional motion controller

Claim 2

For use in a motor control system which includes a host system for receiving a control request and passing the control request to a motor controller, a plurality of motors to be controlled based on the control request received by the host system, the motor controller receiving the control request and a motor identification command for the host system, the motor identification command being indicative of a type of motor to be controlled, the motor controller providing a power control signal based on the type of motor to be controlled, the control request, and a control function executed by the motor controller.

Claim 3

The motor controller of claim 1 in which the motor controller includes: interpolation means for receiving the control request from the host system and for providing an interpolated output signal representative of the control request; and variable configuration means, coupled to the interpolation means, for receiving the interpolated output signal, for receiving a motor identification command indicative of a type of motor to be controlled, and for producing the power control signal as a function of the motor identification command and the interpolated output signal.

Claim 4

The motor controller of claim 2 and further comprising: a power pack for receiving the power control signal and for providing a motor control signal to the motor to be controlled based on the power control signal.

Claim 5

The motor controller of claim 3 wherein the control function is implemented as a computer program.

Claim 6

The motor controller of claim 3 wherein the means for producing the power control signal includes a digital signal processor.

Claim 7

The motor controller of claim 1 wherein the power control signal comprises a pulse width modulated signal.

Claim 8

The motor controller of claim 1 wherein the plurality of motors comprise four motors for driving four axes of motion.

Claim 9

A motor control system for receiving a control request from a host system and for controlling a plurality of motors based on the control request, the motor control system comprising: interpolation means for receiving the control request and for providing an interpolated output signal representative of the control request; variable configuration means, coupled to the interpolation means, for receiving the interpolated output signal, for receiving a motor identification command indicative of a type of motor to be controlled, and for providing a power control signal based on the type of motor to be controlled, the interpolated output signal and a control function executed by the variable configuration means; and a power pack, coupled to the variable configuration means, for receiving the power control signal and for providing a motor control signal to the motor to be controlled based on the power control signal.

Claim 10

A motor control system for receiving a control request from a host system and for controlling a plurality of motors based on the control request, the motor control system comprising: interpolation means for receiving the control request and for providing an interpolated output signal representative of the control request; variable configuration means, coupled to the interpolation means, for receiving the interpolated output signal, for receiving a motor identification command indicative of a type of motor to be controlled, and for providing a power control signal based on the type of motor to be controlled, the interpolated output signal and a control function executed by the variable configuration means; and a power pack, coupled to the variable configuration means, for receiving the power control signal and for providing a motor control signal to the motor to be controlled based on the power control signal.

Claim 11

The motor control system of claim 8 wherein the variable configuration means comprises: means for receiving feedback signals indicative of the position of the plurality of motors; and means for providing the power control signal based on the feedback signals.

Claim 12

The motor control system of claim 8 wherein the host computer provides the motor identification command indicative of the type of motor to be controlled.

Claim 13

A motor controller for controlling a plurality of motors based upon position and velocity commands from a host system, the motor controller comprising: interpretation and interpolation means for providing interpolated velocity and position commands as a function of the position and velocity commands from the host system; position control means for providing torque commands as a function of the position position control means for providing torque commands as a function of the position and velocity commands and feedback signals from the motors; and motor and drive technology select means for providing power control signals to drive the motors as a function of the torque commands and a motor identification command which indicates a motor type for each of the motors.

Claim 14

A motor controller for controlling a plurality of motors based upon position and velocity commands from a host system, the motor controller comprising: interpretation and interpolation means for providing interpolated velocity and position commands as a function of the position and velocity commands from the host system; position control means for providing torque commands as a function of the position position control means for providing torque commands as a function of the position and velocity commands and feedback signals from the motors; and motor and drive technology select means for providing power control signals to drive the motors as a function of the torque commands and a motor identification command which indicates a motor type for each of the motors.