Patent ID: 7406354
Filing Date: 2008-07-29
Classification: H04J,H04L

Abstract:
1. A slave configured to be in communication during operation with a central controller over a full-duplex data network, said slave comprising: a first receiver configured to receive a first signal transmitted along a first direction over said data network; a second receiver configured to receive a second signal transmitted along a second direction over said data network; an actuator configured to implement an action based one of said received first signal and said second signal; a timing operation mechanism configured to establish timing at the slave, based on a propagation delay parameter between the slave and the central controller, and to delay reception of a servo clock message by an amount of time corresponding to the propagation delay signal for information passed between the slave and the central controller so that an actuation time at the slave occur simultaneously; a first reply transmitter configured to answer said first signal in said second direction; a second reply transmitter configured to answer said second signal in said first direction; a selector configured to select said first reply transmitter when said first signal is received and said second reply transmitter when said second signal is received; and a delay correction memory configured to store a forward path delay correction signal and a reverse path delay correction signal, wherein said actuator is configured to implement said motion or force-related effort at an actuator time based upon a selected one of said forward path delay correction signal and said reverse path delay correction signal, and said selector also is configured to select said forward path delay correction signal when said first signal is received and said reverse path delay correction signal when said second signal is received.