A method and system for motion control of movers in an independent cart system is disclosed. In one implementation, the independent cart system includes a plurality of track segments, each section having a respective controller. One of the controllers receives a motion command for a plurality of carts, respectively. The controller generates a force command for each of the plurality of carts and transmits the respective commands to the track segments commutating the plurality of carts.

The invention relates to a transport system, in particular to a multi-carrier system, comprising a central control; a plurality of drive units, wherein the drive units are coupled to the central control by means of a data link; and a plurality of transport elements that are movable by means of the drive units, wherein he central control is configured to communicate control commands to the drive units, with the control commands causing the drive units to make a movement of the transport elements in dependence on the control commands. The transport system in accordance with the invention is characterized in that at least two of the drive units, preferably all the drive units, receive the same control commands.

An improved system and method for coordinating motion between an external device and independent movers traveling along a linear drive system includes a motion controller generating motion commands for both the external device and for each of the independent movers. Coordinate systems are defined in the motion controller that correspond to a track along which each of the independent movers travels and to the external device. An offset between the coordinate systems is also defined. The motion controller receives a command for coordinated motion and generates motion commands for the independent mover and the external device in one coordinate system to achieve the commanded coordinated motion. The motion command that corresponds to the coordinate system in which the motion commands are generated are transmitted directly, and the motion command associated with the second coordinate system is first transformed to the second coordinate system using the offset.

A control device, linear drive, production- or packaging machine, computer program product and method for controlling movement of at least one rotor in the linear drive, wherein a user or a machine station specifies the movement pattern to the control device to specify the movement, where the specified movement pattern is associated with virtual axes, particularly via the computer program product, the movement pattern is advantageously automatically associated with virtual axes subsequently associated with real axes, a control unit, i.e., a converter, controls movement of the rotor on the segment of the linear drive and the control unit supplies at least one segment with electrical voltage or current, where the segments as part of the linear drive therefore move the rotors in accordance with the specifications of the movement pattern, where such an association occurs automatically, and the user is relieved of this task during specification of the movement pattern.

A method for moving a rotor onto a segment, a linear drive, a production machine, a machine tool, and a packaging machine comprising such a linear drive, wherein the actual speed of the rotor is ascertained using a sensor paired with the segment when the rotor is moved onto the segment, where the actual speed is selected by a control unit as the first target speed for the rotor, and after the target speed has been determined for the rotor, the regulation of the actual speed is activated for the rotor, and where the actual speed of the rotor is then regulated in accordance with a conventional rule, wherein a rule variable is the ascertained actual speed and/or the position of the rotor such that jerking or an undesired acceleration is prevented during transition of the rotor onto the segment.

A method and a parameter estimation system are provided for controlling an electrical machine, (e.g., an induction motor), powered by a drive unit. The method and the parameter estimation system disclosed herein detect a travelling wave generated on a linking element disposed between a first connection point, which is at least one terminal of the electrical machine, and a second connection point, which is at least one terminal of the drive unit. Further, the method and the parameter estimation system disclosed herein obtain at least one of a plurality of wave characteristics associated with the travelling wave, (e.g., an amplitude, a width, a frequency, a travel time of the travelling wave). Further, the method and the parameter estimation system disclosed herein determine one or more control parameters, (e.g., an operational torque and speed), of the electrical machine based on at least one of the wave characteristics.

A method for open-loop and/or closed-loop control of a linear drive, a linear drive; and a system, wherein the linear drive includes at least one segment, at least one rotor, at least one machine station and a control device, where the at least one rotor is moved in a direction via the at least one segment, at least a portion of at least one segment is within a region accessible by the machine station, the movement of the at least one rotor is controlled in an open-loop and/or closed-loop manner by the control device and/or control unit, the controlling occurs in accordance with a movement pattern for the rotor, and where the movement of a particular rotor in the region accessible by the associated machine station is specified by a movement profile in accordance with the mode of operation of the associated machine station.

A runtime coordination subsystem allows programmers of multi-mover, linear motion systems to provide simple commands to the movers without concern for the presence of other movers on the track. The runtime coordination subsystem manages proper separation distances to prevent collisions and automatically queue movers in contention situations. In addition the runtime coordination subsystem permits a specialized multi-mover command controlling movers in unison with constant separation.

A runtime coordination subsystem allows programmers of multi-mover, linear motion systems to provide simple commands to the movers without concern for the presence of other movers on the track. The runtime coordination subsystem manages proper separation distances to prevent collisions and automatically queue movers in contention situations. In addition the runtime coordination subsystem permits a specialized multi-mover command controlling movers in unison with constant separation.

A controller for a linear drive system includes compensation of a reference signal as the mover approaches a commanded position along a track. The compensation value is added once as the vehicle approaches the commanded position, adjusting the reference signal. This compensation allows the controller to resolve to a zero reference signal at the same time the vehicle reaches the commanded position. The amount of compensation required may be automatically determined for a particular vehicle to reduce or eliminate overshoot as the vehicle approaches a station. Initially, no compensation is provided and the controller monitors settling error as the vehicle approaches a station. The compensation value is then incremented and the controller again monitors settling error as the vehicle approaches a station. The controller compares the new settling error to the prior settling error and adjusts the compensation value accordingly.