Industrial control system with distributed motion planning

摘要

An industrial control system (10) provides motion control functions that may distribute motion planning tasks to capable motor drives (30) and motion devices based on stored drive profiles. The profile-aware functions allow control programs to be used with motor drives that are both capable and incapable of executing a motion planning with automatic distribution of the planning tasks as appropriate. Coordination among different devices in the industrial control system when motion planning is distributed may be accommodated through peer-to-peer communication between drives and non-controller devices.