Servo Controller Clock Deviation Compensation
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Solution Overview
Problem
In motion systems, the asynchronous communication between control devices and servo controllers often results in variations in command reception intervals due to clock deviations, leading to reduced positioning accuracy and delayed motor responses.
Innovation Solution
A servo controller with an event detection unit, deviation calculation unit, and reception period adjustment unit that asynchronously receives commands, calculates clock deviations, and adjusts the command reception period to align with the servo controller's minimum clock value, eliminating accumulation deviations and shifting the reception period phase to minimize event occurrence.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the control device and servo controller use independent clocks for command output and reception, then device independence and operational flexibility are improved, but clock deviation accumulates causing command reception interval variation
Solution Approach 1:
The servo controller monitors the actual reception timing of commands from the control device and feeds back this timing information to detect deviations from the expected fixed period. This feedback mechanism enables the system to identify when clock deviations cause reception interval variations, allowing for subsequent correction actions to maintain reliable command reception.
Solution Approach 2:
The invention adjusts the command reception period parameter dynamically based on detected clock deviations. By changing the reception period to compensate for accumulated timing differences between independent clocks, the system maintains consistent command reception intervals despite using independent clock sources, thus resolving the reliability issue while preserving device independence.
2Reliability
If the command reception period is adjusted to compensate for clock deviation, then command reception consistency is improved, but additional control mechanisms and complexity are introduced
Solution Approach 1:
The servo controller performs self-adjustment by automatically detecting its own command reception timing deviations and correcting its internal reception period parameter without requiring external intervention or complex external control systems. This self-service approach improves command reception consistency while minimizing additional system complexity.
Solution Approach 2:
The invention implements a feedback loop where the servo controller monitors its own command reception timing, calculates deviations from the expected fixed period, and automatically adjusts its reception period parameter. This closed-loop feedback mechanism achieves reliable command reception with minimal additional complexity by using the existing communication interface for timing detection.
3Manufacturing precision
If command reception timing varies due to accumulated clock deviations, then positioning accuracy and motor response are degraded, but using synchronized clocks would eliminate timing variations
Solution Approach 1:
The servo controller uses feedback from the actual command reception timing to detect when clock deviations affect positioning accuracy. By monitoring the reception period variations caused by independent clock differences, the system identifies timing errors that would otherwise degrade manufacturing precision.
Solution Approach 2:
The invention changes the command reception period parameter to compensate for clock deviations, thereby maintaining accurate positioning without requiring complex clock synchronization mechanisms. This parameter adjustment ensures that commands are received at the correct intervals relative to the control device's command output, preserving positioning accuracy while using independent clocks.
Data Source
AI summary
The servo controller is provided with a command reception unit and a servo control computation unit. In a measurement mode, the command reception unit asynchronously receives with every command reception period a counter output by the control device with every command update period. The servo controller is further provided with an event detection unit configured to detect the occurrence of an event which entails variation in reception intervals of the counter in the measurement mode, a deviation calculation unit configured to calculate a deviation amount between respective clocks of the control device and the servo controller, based on an occurrence period of the event and the command reception period, in the measurement mode, and a reception period adjustment unit configured to adjust the command reception period based on the deviation amount in an operation mode.