公开(公告)号：US11539244B2

公开(公告)日：2022-12-27

申请号：US17406735

申请日：2021-08-19

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Jadav Das ,  Xikai Sun ,  Shankha S. Seal ,  Dayin Xu ,  Tracy M. Clark ,  John Floresta

IPC: B60L15/00 ,  H02J50/10 ,  H01F38/14 ,  H02J50/30 ,  B60L5/00 ,  H02P27/06 ,  B65G54/02

Abstract: An independent cart system includes an inductive link for contactless power transfer between a track and each mover as the mover travels along the track. A system for contactless data transmission between movers and a controller in the independent cart system includes a transmitter and/or receiver mounted on each mover and a complementary receiver and/or transmitter mounted on a track. The transmitter receives data to be transmitted across the inductive link and modulates a voltage present on either the primary or secondary winding to which it is coupled. The modulated voltage present on one winding induces a corresponding modulation on the voltage present on the other winding. A receiver operatively connected to the other side of the inductive link detects the modulated voltage and decodes the data from the modulated voltage received across the inductive link.

公开(公告)号：US20210099119A1

公开(公告)日：2021-04-01

申请号：US16587177

申请日：2019-09-30

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Xikai Sun ,  Jadav Das ,  Tracy M. Clark ,  Robert H. Schmidt ,  Neil R. Bentley

IPC: H02P25/064 ,  H02K11/00 ,  H02K11/04 ,  H02K41/03 ,  B65G35/06 ,  B65G23/23

Abstract: A system for wirelessly transmitting power between a track and independent movers in a motion control system includes a pick-up coil provided proximate to the magnets on the movers. The fundamental component of the voltage applied to the drive coils interacts primarily with the magnetic field generated by the permanent magnets on the movers and not with the pick-up coil. Consequently, the pick-up coil does not interfere with desired operation of the movers but rather, interacts primarily with the harmonic components and has current and voltages induced within the pick-up coil as a result of the harmonic components. The energy captured by the pick-up coil reduces the amplitude of eddy currents on the mover. After harvesting the harmonic content, the pick-up coil may be connected to another circuit on the mover and serve as a supply voltage for the other circuit.

公开(公告)号：US10951138B2

公开(公告)日：2021-03-16

申请号：US16449835

申请日：2019-06-24

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Jadav Das

IPC: H02P6/00 ,  H02P25/064 ,  H02P25/06

Abstract: A motor controller is provided that executes a commutation routine in one of a plurality of operating modes to regulate current provided to drive coils in a linear motion system. The motor controller generated currents for each of the drive coils in a first operating mode to minimize the copper losses in the drive coils, in a second operating mode to maximize the force applied to the mover, in a third operating mode to provide balanced currents between the drive coils, and in a fourth operating mode to provide currents according to a selected operating point that combines characteristics of the first three operating points. The motor controller may also monitor each of the drive coils for saturation and redistribute at least a portion of the current required to control operation of the mover to the other drive coils when one of the drive coils is saturated.

公开(公告)号：US20240094718A1

公开(公告)日：2024-03-21

申请号：US17947779

申请日：2022-09-19

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Bijan SayyarRodsari ,  Jakob Methfessel ,  Shankha S. Seal ,  Jadav Das

IPC: G05B19/418

CPC classification number: G05B19/4189 ,  G05B2219/35499 ,  G05B2219/45054

Abstract: A non-transitory computer-readable medium includes instructions that, when executed by processing circuitry, are configured to cause the processing circuitry to receive a first dataset associated with a mover system having a track and a plurality of mover assemblies independently movable along the track, identify a subset of the first dataset associated with a normal operating state of the mover system based on state data associated with the mover system, receive a second dataset associated with the mover system after receiving the first dataset and having a first set of differences from the subset of the first dataset, determine whether the second dataset is indicative of an anomaly state of the mover system based on a relationship between an anomaly signature dataset and the second dataset, and adjusting operation of the mover system in response to determining that the second dataset corresponds to the anomaly signature dataset.

公开(公告)号：US11641169B2

公开(公告)日：2023-05-02

申请号：US17184395

申请日：2021-02-24

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Jadav Das

IPC: H02P25/06 ,  H02P6/00 ,  H02P25/064

Abstract: A motor controller is provided that executes a commutation routine in one of a plurality of operating modes to regulate current provided to drive coils in a linear motion system. The motor controller generated currents for each of the drive coils in a first operating mode to minimize the copper losses in the drive coils, in a second operating mode to maximize the force applied to the mover, in a third operating mode to provide balanced currents between the drive coils, and in a fourth operating mode to provide currents according to a selected operating point that combines characteristics of the first three operating points. The motor controller may also monitor each of the drive coils for saturation and redistribute at least a portion of the current required to control operation of the mover to the other drive coils when one of the drive coils is saturated.

公开(公告)号：US10587212B1

公开(公告)日：2020-03-10

申请号：US16186960

申请日：2018-11-12

Applicant: Rockwell Automation Technologies, Inc.

Inventor： David D. Van Dorpe ,  Mark R. Cooper ,  Shankernarayan Ramanarayanan ,  Patrick E. Ozimek ,  Jadav Das

IPC: H02P7/025 ,  H02P29/028 ,  H02K11/21 ,  B65G35/06 ,  H02K41/035 ,  H02K11/30

Abstract: A mover is configured to be electromagnetically propelled along a track in a linear motor track system with a force that is calculated to include compensation for gravity. A multi-axis accelerometer arranged in each segment of the track can detect an orientation or angle of the track segment for determining gravity with respect to the particular section. As a result, if the track is at an incline, such as a ramp, a desired force for moving a mover along the track can be compensated to include gravity due to the incline for achieving a desired motion result. In addition, the detected orientation of the track can be compared to an expected orientation stored by a control program to avoid a loss of performance due to physical changes in the track not matching an expected/programmed configuration of the track.

公开(公告)号：US11787649B2

公开(公告)日：2023-10-17

申请号：US17224322

申请日：2021-04-07

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Shankha S. Seal ,  Jadav Das ,  Tracy M. Clark ,  Michaela R. Kaufmann ,  Dayin Xu ,  Xikai Sun ,  John Floresta

IPC: B65G67/12 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114

CPC classification number: B65G67/12 ,  B60W40/11 ,  B60W40/112 ,  B60W40/114 ,  B60W2300/40

Abstract: A system and method of determining orientation of a physical location on a cart or end effector located on the cart in an independent cart system receives a feedback signal from a sensor on the cart. A multi-axis device may generate three or more signals corresponding to X, Y, and Z axes orientations. Processing may be performed on the signals to generate a value of yaw, pitch, or roll of the cart. The feedback or processed signals are transmitted from the mover to a remote device external from the track. The real-time orientation information may be used to implement closed-loop control of an actuator mounted on or external to each cart as the cart travels along the track. Power for the devices on the mover may be provided by a battery mounted on the cart or by a wireless power transfer system.

公开(公告)号：US20210234488A1

公开(公告)日：2021-07-29

申请号：US17228944

申请日：2021-04-13

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Xikai Sun ,  Jadav Das ,  Tracy M. Clark ,  Robert H. Schmidt ,  Neil R. Bentley

IPC: H02P25/064 ,  B65G23/23 ,  H02K41/03 ,  H02K11/00 ,  H02K11/04 ,  B65G35/06

Abstract: A system for wirelessly transmitting power between a track and independent movers in a motion control system includes a pick-up coil provided proximate to the magnets on the movers. The fundamental component of the voltage applied to the drive coils interacts primarily with the magnetic field generated by the permanent magnets on the movers and not with the pick-up coil. Consequently, the pick-up coil does not interfere with desired operation of the movers but rather, interacts primarily with the harmonic components and has current and voltages induced within the pick-up coil as a result of the harmonic components. The energy captured by the pick-up coil reduces the amplitude of eddy currents on the mover. After harvesting the harmonic content, the pick-up coil may be connected to another circuit on the mover and serve as a supply voltage for the other circuit.

公开(公告)号：US11070153B2

公开(公告)日：2021-07-20

申请号：US16789020

申请日：2020-02-12

Applicant: Rockwell Automation Technologies, Inc.

Inventor： David D. Van Dorpe ,  Mark R. Cooper ,  Shankernarayan Ramanarayanan ,  Patrick E. Ozimek ,  Jadav Das

IPC: H02P7/00 ,  H02P7/025 ,  H02K11/21 ,  B65G35/06 ,  H02K41/035 ,  H02P29/028 ,  H02K11/30

Abstract: A mover is configured to be electromagnetically propelled along a track in a linear motor track system with a force that is calculated to include compensation for gravity. A multi-axis accelerometer arranged in each segment of the track can detect an orientation or angle of the track segment for determining gravity with respect to the particular section. As a result, if the track is at an incline, such as a ramp, a desired force for moving a mover along the track can be compensated to include gravity due to the incline for achieving a desired motion result. In addition, the detected orientation of the track can be compared to an expected orientation stored by a control program to avoid a loss of performance due to physical changes in the track not matching an expected/programmed configuration of the track.

公开(公告)号：US20190312533A1

公开(公告)日：2019-10-10

申请号：US16449835

申请日：2019-06-24

Applicant: Rockwell Automation Technologies, Inc.

Inventor： Jadav Das

IPC: H02P6/00 ,  H02P25/064 ,  H02K41/02 ,  H02P25/06

Abstract: A motor controller is provided that executes a commutation routine in one of a plurality of operating modes to regulate current provided to drive coils in a linear motion system. The motor controller generated currents for each of the drive coils in a first operating mode to minimize the copper losses in the drive coils, in a second operating mode to maximize the force applied to the mover, in a third operating mode to provide balanced currents between the drive coils, and in a fourth operating mode to provide currents according to a selected operating point that combines characteristics of the first three operating points. The motor controller may also monitor each of the drive coils for saturation and redistribute at least a portion of the current required to control operation of the mover to the other drive coils when one of the drive coils is saturated.