Patent ID: 6418357
Filing Date: 2002-07-09
Classification: G07B

Abstract:
A method for dynamically determining a motion control profile used in controlling motion of an axis of an overhead transport motor so as to be synchronized to the motion of a collating transport motor of an insertion engine used to insert a collation into an envelope when the collating transport motor causes a collating pusher to handoff the collation to an overhead pusher being driven by the overhead transport motor, the motion profile consisting of a finite number of segments and repeating after the finite number of segments, the finite number of segments constituting a cycle, the method comprising the steps of:a) electronically gearing the overhead transport motor to the collating transport motor from the beginning of a cycle until handoff; b) based on position information provided by a sensor, determining whether the collating transport is decelerating between handoff and insertion; and c) using either forward integration or electronic gearing of the overhead transport motor to the collating transport motor up until the collating transport motor is first determined to be decelerating between handoff and insertion, and using forward integration when the collating transport motor is first determined to be decelerating between handoff and insertion and continuing the forward integration until insertion.