Motion control algorithms provide seamless transitions between feedback devices

Now, manufacturers and users of linear motor based closed track transportation systems have an off the shelf control solution, and users of moving magnet based systems, limited by motion performance, have an alternative solution. ACS’ unique algorithms adaptively compensate for the changes in commutation period and motor force constant that result from curved shape magnets in the curved linear motor track.

The algorithms also provide seamless transitions between feedback devices during motion, which allows high resolution optical encoders to be used along certain regions of the track. Additional advanced control algorithms, such as ServoBoost, may be used to further improve performance. A powerful multi-tasking application layer enables robust anti-collision, where anti-collision zones can be modified on the fly to meet application needs.

Featuring a simple control scheme that treats each motor forcer on the track like a standard linear motor axis, ACS’ solution for closed track transportation systems provides higher performance via sinusoidal commutation, high resolution optical encoders, lower cogging that can be completely compensated by algorithms, and position error of a few μm or less during motion.

ACS's motion control solutions for closed track transportation systems only require one drive for each moving forcer and are not dependent on the track length. The ACS motion control solution is cost-effective, and provides low cogging, high performance and high motor force constants (up to 1900N continuous). The motion control algorithms are already being used in high-throughput digital printing, 3D printing, medical and packaging applications.

“Moving magnet motion solutions are primarily used in closed track transport systems, and typically require complex commutation control, multiplexing between sensors and several (non-standard) drives, one for each section of track - meaning the number of drives required increases with the length of track,” said Boaz Kramer, Director of Control & Support, ACS Motion Control. “Moving magnet solutions also have limited performance, as they usually implement a 6-step trapezoidal commutation and hall-sensor based feedback, which have limited resolution and accuracy. Plus, with limited force constants, moving magnet solutions are not suitable for many applications like high performance printing machines.”