Axial motion control processing by multiple cores respectively executing each of a sequence of functions in parallel for respective portions of a motion system

1. A non-transitory computer accessible memory medium storing program instructions for controlling a motion system using a multi-core processor, wherein the program instructions are executable to:

receive respective input data corresponding to each of a plurality of portions of the motion system;

assign execution of a sequence of functions to each processor core of a plurality of processor cores to determine respective outputs for the plurality of portions of the motion system based on the respective input data, wherein each portion of the motion system has an associated control axis comprising state information and algorithms used to execute the sequence of functions for the portion; and

provide the respective outputs to the plurality of portions of the motion system;

wherein the assignment of execution of the sequence of functions to each of the plurality of processor cores causes each of the processor cores to execute the sequence of functions in parallel, and wherein execution of each respective function in the sequence of functions by each of the processor cores is completed before execution of a next function of the sequence of functions is begun.

2. The non-transitory computer accessible memory medium of claim 1 , wherein the plurality of portions of the motion system is greater in number than the plurality of processor cores, resulting in one or more additional portions, wherein to assign execution of the sequence of functions to each processor core, the program instructions are executable to:

assign an additional execution of the sequence of functions to each of a corresponding one or more of the plurality of processor cores to determine respective outputs for the one or more additional portions of the motion system based on the respective input data.

3. The non-transitory computer accessible memory medium of claim 1 , wherein the plurality of sequential functions comprises at least one function for generating a trajectory for a respective portion of the motion system.

4. The non-transitory computer accessible memory medium of claim 3 , wherein the plurality of sequential functions comprises at least one function for generating a setpoint based on the trajectory for the respective portion of the motion system.

5. The non-transitory computer accessible memory medium of claim 4 , wherein the output for the respective portion is based on the setpoint.

6. The non-transitory computer accessible memory medium of claim 1 , wherein the sequence of functions comprises at least one function for determining state information of the respective portion to determine if there is an error for the respective portion.

7. The non-transitory computer accessible memory medium of claim 1 , wherein a first portion of the motion system comprises a first device, and wherein the output for the first portion comprises a drive command for the first device.

8. The non-transitory computer accessible memory medium of claim 1 , wherein at least some of the portions of the motion system comprise respective devices, and wherein the output for the at least some portions comprises a drive command for each of the devices.

9. A method for controlling a motion system using a multi-core processor, comprising:

receiving respective input data corresponding to each of a plurality of portions of the motion system;

assigning execution of a sequence of functions to each processor core of a plurality of processor cores to determine respective outputs for the plurality of portions of the motion system based on the respective input data, wherein each portion of the motion system has an associated control axis comprising state information and algorithms used to execute the sequence of functions for the portion; and

providing the respective outputs to the plurality of portions of the motion system;

wherein said assigning execution of the sequence of functions to each of the plurality of processor cores causes each of the processor cores to execute the sequence of functions in parallel, and wherein execution of each respective function in the sequence of functions by each of the processor cores is completed before execution of a next function of the sequence of functions is begun.

10. The method of claim 9 , wherein the plurality of portions of the motion system is greater in number than the plurality of processor cores, resulting in one or more additional portions, wherein said assigning execution of the sequence of functions to each processor core comprises:

assigning an additional execution of the sequence of functions to each of a corresponding one or more of the plurality of processor cores to determine respective outputs for the one or more additional portions of the motion system based on the respective input data.

11. The method of claim 9 , wherein the plurality of sequential functions comprises at least one function for generating a trajectory for the respective portion of the motion system.

12. The method of claim 11 , wherein the plurality of sequential functions comprises at least one function for generating a setpoint based on the trajectory for the respective portion of the motion system.

13. The method of claim 12 , wherein the output for the respective portion is based on the setpoint.

14. The method of claim 9 , wherein the sequence of functions comprises at least one function for determining state information of the respective device to determine if there is an error for the respective portion.

15. The method of claim 9 , wherein a first portion of the motion system comprises a first device, wherein the output for the first portion comprises a drive command for the first device.

16. A system, comprising:

a processor, comprising a plurality of processor cores;

a plurality of inputs coupled to a plurality of devices and the plurality of processor cores;

a plurality of outputs coupled to the plurality of devices and the plurality of processor cores;

wherein the system is configured to:

receive respective input data corresponding to each of a plurality of devices;

assign execution of a sequence of functions to each processor core of a plurality of processor cores to determine respective outputs for the plurality of devices based on the respective input data, wherein each device has an associated control axis comprising state information and algorithms used to execute the sequence of functions for the device; and

provide the respective outputs to the plurality of devices;

wherein the assignment of execution of the sequence of functions to each of the plurality of processor cores causes each of the processor cores to execute the sequence of functions in parallel, and wherein execution of each respective function in the sequence of functions by each of the processor cores is completed before execution of a next function of the sequence of functions is begun.

17. The system of claim 16 , wherein the plurality of devices of the system is greater in number than the plurality of processor cores, resulting in one or more additional devices, wherein to assign execution of the sequence of functions to each processor core, the system is configured to:

assign an additional execution of the sequence of functions to each of a corresponding one or more of the plurality of processor cores to determine respective outputs for the one or more additional devices of the system based on the respective input data.

18. The system of claim 16 , wherein the plurality of sequential functions comprises at least one function for generating a trajectory for a respective device of the system.

19. The system of claim 18 , wherein the plurality of sequential functions comprises at least one function for generating a setpoint based on the trajectory for the respective device of the system.

20. The system of claim 19 , wherein the output for the respective device is based on the setpoint.