Motion control systems
A motion control system comprising an application program, a plurality of motion controllers, a set of software drivers, and a motion component. Each software driver exposes a service provider interface comprising a set of driver functions. Driver code of at least one software driver associates at least one driver function with at least one control command. The motion component exposes an application programming interface comprising a set of component functions and component code associates at least one of the component functions with at least one of the driver functions. The at least one selected software driver generates at least one control code from the motion controller language associated with the at least one selected motion controller based on the at least one component function called by the application program, the component code, and the driver code of the at least one selectable software driver.
1. A motion control system, comprising:
an application program comprising at least one call to at least one component function;
a plurality of motion controllers, where
each of the motion controllers is capable of causing a motion control operation,
a plurality of motion controller languages are associated with the plurality of motion controllers,
each motion controller language comprises control commands, where at least one control command is capable of processing information associated with the movement of an object, and
at least one of the plurality of motion controller languages is associated with at least one of the motion controllers;
a set of software drivers each comprising driver code, where
each software driver is associated with at least one of the plurality of motion controller languages,
each software driver exposes a service provider interface comprising a set of driver functions, where
the driver functions are independent of the plurality of motion controller languages,
at least one driver function is an extended driver function that is associated with a non-primitive motion operation that can be performed using at least one primitive motion operation, where the at least one primitive motion operation cannot be performed using a combination of primitive or non-primitive motion operations,
at least one driver function is a core driver function that is associated with a primitive motion operation,
the driver code of at least one software driver associates at least one driver function with at least one control command of the at least one motion controller language associated with at least one of the software drivers, and
at least one selected software driver is associated with at least one selected motion controller;
a motion component comprising component code, where the motion component exposes an application programming interface comprising a set of component functions, where
each component function is implemented by component code, and
at least the component code is independent of the plurality of motion controller languages, and
the component code associates at least one of the component functions with at least one of the driver functions; whereby
the at least one selected software driver generates at least one control code from the motion controller language associated with the at least one selected motion controller based on the at least one component function called by the application program, the component code, and the driver code of the at least one selectable software driver.
2. A motion control system as recited in claim 1 , in which:
the component code associates at least one component function with a plurality of core driver functions; and
the component code associates at least one component function with one of the core driver functions.
3. A motion control system as recited in claim 1 , in which:
the component code implements at least one extended driver function by associating at least one component function with a plurality of core driver functions; and
the component code implements at least one core driver function by associating at least one component function with one of the core driver functions.
4. A motion control system as recited in claim 1 , in which:
the component code emulates at least one extended driver function by associating at least one component function with a plurality of the core driver functions;
the component code implements at least one extended driver function by associating at least one component function with one of the extended driver functions; and
the component code implements at least one core driver function by associating at least one component function with one of the core driver functions.
5. A motion control system as recited in claim 1 , in which the application program further comprises at least one call to a component function comprising at least one parameter, where:
the at least one parameter is associated with a data item associated with the selected motion controller; and
the at least one parameter is passed from the application program to the selected software driver by the motion component.
6. A motion control system as recited in claim 1 , in which the software drivers are binary modules.
7. A motion control system as recited in claim 1 , in which the software drivers conform to the service provider interface such that the software drivers may be interchanged without changing the component code.
8. A motion control system as recited in claim 1 , further comprising a plurality of streams, where each stream contains transmit stream code that determines how control commands are transmitted to a destination of control commands.
9. A motion control system as recited in claim 8 , in which the destination of the control commands is the at least one selected motion controller.
10. A motion control system as recited in claim 8 , where in at least one stream is a stream binary module that can be interchanged with other stream binary modules without changing the software driver that uses the stream.
11. A motion control system as recited in claim 8 , in which the destination of the control commands is a file.
12. A motion control system as recited in claim 1 , in which:
the motion component is a component binary module;
the software drivers are driver binary modules; and
the driver binary modules may be interchanged without changing the component binary module.
13. A motion control system as recited in claim 1 , wherein the control commands of each of the plurality of motion controller languages comprise binary codes.
14. A motion control system as recited in claim 1 , in which the component code uses a function table that associates at least one of the component functions with at least one of the driver functions.
15. A motion control system as recited in claim 13 , in which the function table is a function pointer table.
16. A motion control system, comprising:
an application program comprising at least one call to at least one component function;
a plurality of motion control devices, where
a plurality of unique controller languages are associated with the plurality of motion control devices,
each controller language comprises at least some control commands for processing information associated with motion control devices, and
each of the motion control devices comprises
a controller capable of generating electrical signals based on at least one control command of the controller language associated with the motion control device, and
a mechanical system capable of causing a motion control operation based on electrical signals generated by the controller,
a set of software drivers each comprising driver code, where
each software driver is associated with at least one of the plurality of controller languages, and
each software driver exposes a service provider interface defining a set of driver functions, where
the driver functions are independent of the plurality of controller languages,
at least one driver function is an extended driver function that is associated with a non-primitive motion operation that can be performed using at least one primitive motion operation, where the at least one primitive motion operation cannot be performed using a combination of primitive or non-primitive motion operations,
at least one driver function is a core driver function that is associated with a primitive motion operation,
the driver code of at least one software driver associates at least one driver function with at least one control command of the at least one controller language associated with at least one of the software drivers, and
at least one selected software driver is associated with at least one selected motion control device;
a motion component comprising component code, where the motion component exposes an application programming interface comprising a set of component functions, where
each component function is implemented by component code,
at least the component code is independent of the plurality of controller languages, and
the component code associates at least one of the component functions with at least one of the driver functions;
wherein
the at least one selected software driver generates at least one control command in the controller language associated with the at least one selected motion control device based on the calls to component functions of the application program, the component code, and the driver code of the at least one selected software driver.
17. A motion control system as recited in claim 16 , in which:
the component code associates at least one component function with a plurality of core driver functions; and
the component code associates at least one component function with one of the core driver functions.
18. A motion control system as recited in claim 16 , in which:
the component code implements at least one extended driver function by associating at least one component function with a plurality of core driver functions; and
the component code implements at least one core driver function by associating at least one component function with one of the core driver functions.
19. A motion control system as recited in claim 16 , in which:
the component code emulates at least one extended driver function by associating at least one component function with a plurality of the core driver functions;
the component code implements at least one extended driver function by associating at least one component function with one of the extended driver functions; and
the component code implements at least one core driver function by associating at least one component function with one of the core driver functions.
20. A motion control system as recited in claim 16 , in which the application program further comprises at least one call to a component function comprising at least one parameter, where:
the at least one parameter is associated with a data item associated with the at least one selected motion control device; and
the at least one parameter is passed from the application program to the at least one selected software driver by the motion component.
21. A motion control system as recited in claim 16 , in which the software drivers are binary modules.
22. A motion control system as recited in claim 16 , in which the software drivers conform to the service provider interface such that the software drivers may be interchanged without changing the component code.
23. A motion control system as recited in claim 16 , further comprising a plurality of streams, where each stream contains transmit stream code that determines how control commands are transmitted to a destination of control commands.
24. A motion control system as recited in claim 23 , in which the destination of the control commands is the at least one selected motion control device.
25. A motion control system as recited in claim 23 , where in at least one stream is a stream binary module that can be interchanged with other stream binary modules without changing the software driver that uses the stream.
26. A motion control system as recited in claim 23 , in which the destination of the control commands is a file.
27. A motion control system as recited in claim 16 , in which:
the motion component is a component binary module;
the software drivers are driver binary modules; and
the driver binary modules may be interchanged without changing the component binary module.
28. A motion control system as recited in claim 16 , wherein the control commands of each of the plurality of controller languages comprise binary codes.
29. A motion control system as recited in claim 16 , in which the component code uses a function table that associates at least one of the component functions with at least one of the driver functions.
30. A motion control system as recited in claim 29 , in which the function table is a function pointer table.
31. A motion control system, comprising:
an application program comprising at least one call to at least one component function;
a plurality of motion controllers, where
each of the motion controllers is capable of causing a motion control operation,
a plurality of sets of control commands are associated with the plurality of motion controllers,
each set of control commands comprises at least one control command that is capable of processing information associated with the movement of an object, and
at least one of the plurality of sets of control commands is associated with each of the motion controllers;
a set of software drivers each comprising driver code, where
each software driver is associated with at least one of the plurality of sets of control commands,
at least one selected software driver is associated with at least one selected motion controller;
each software driver exposes a service provider interface defining a set of driver functions, where
the driver functions are independent of the plurality of sets of control commands,
at least one driver function is an extended driver function that is associated with a non-primitive motion operation that can be performed using a combination of primitive motion operations, where primitive motion operations cannot be performed using a combination of primitive or non-primitive motion operations,
at least one driver function is a core driver function that is associated with a single one of the primitive motion operations, and
the driver code of at least one software driver associates at least one driver function with at least one control command of the at least one set of control commands associated with at least one of the software drivers, and
a motion component comprising component code, where the motion component exposes an application programming interface comprising a set of component functions, where
each component function is implemented by component code,
at least the component code is independent of the plurality of sets of control commands, and
the component code associates at least one of the component functions with at least one of the driver functions; whereby
the at least one selected software driver generates a sequence of one or more control commands from the set of control commands associated with the at least one selected controller based on the calls to component functions of the application program, the component code, and the driver code of the at least one selected software driver.
32. A motion control system as recited in claim 31 , in which:
the component code associates at least one component function with a plurality of core driver functions; and
the component code associates at least one component function with one of the core driver functions.
33. A motion control system as recited in claim 31 , in which:
the component code implements at least one extended driver function by associating at least one component function with a plurality of core driver functions; and
the component code implements at least one core driver function by associating at least one component function with one of the core driver functions.
34. A motion control system as recited in claim 31 , in which:
the component code emulates at least one extended driver function by associating at least one component function with a plurality of the core driver functions;
the component code implements at least one extended driver function by associating at least one component function with one of the extended driver functions; and
the component code implements at least one core driver function by associating at least one component function with one of the core driver functions.
35. A motion control system as recited in claim 31 , in which the application program further comprises at least one call to a component function comprising at least one parameter, where:
the at least one parameter is associated with the at least one selected motion controller; and
the at least one parameter is passed from the application program to the at least one selected software driver by the motion component.
36. A motion control system as recited in claim 31 , in which the software drivers are binary modules.
37. A motion control system as recited in claim 31 , in which the software drivers conform to the service provider interface such that the software drivers may be interchanged without changing the component code.
38. A motion control system as recited in claim 31 , further comprising a plurality of streams, where each stream contains transmit stream code that determines how control commands are transmitted to a destination of control commands.
39. A motion control system as recited in claim 38 , in which the destination of the control commands is the at least one selected motion controller.
40. A motion control system as recited in claim 38 , where in at least one stream is a stream binary module that can be interchanged with other stream binary modules without changing the software driver that uses the stream.
41. A motion control system as recited in claim 38 , in which the destination of the control commands is a file.
42. A motion control system as recited in claim 31 , in which:
the motion component is a component binary module;
the software drivers are driver binary modules; and
the driver binary modules may be interchanged without changing the component binary module.
43. A motion control system as recited in claim 31 , wherein the control commands of each of the plurality of controller languages comprise binary codes.
44. A motion control system as recited in claim 31 , in which the component code uses a function table that associates at least one of the component functions with at least one of the driver functions.
45. A motion control system as recited in claim 43 , in which the function table is a function pointer table.
46. A motion control system, comprising:
an application program comprising at least one call to at least one component function;
a plurality of controllers, where
each of the controllers is capable of causing a motion control operation,
a plurality of sets of control commands are associated with the plurality of controllers,
each set of control commands comprises at least one control command that is capable of processing information associated with the movement of an object, and
at least one of the plurality of sets of control commands is associated with each of the controllers;
a set of software drivers each comprising driver code, where
each software driver is associated with at least one of the plurality of sets of control commands,
at least one selected software driver is associated with at least one selected controller;
each software driver exposes a service provider interface defining a set of driver functions, where
the driver functions are independent of the plurality of sets of control commands,
at least one driver function is an extended driver function that is associated with a non-primitive motion operation that can be performed using a combination of primitive motion operations, where primitive motion operations cannot be performed using a combination of primitive or non-primitive motion operations,
at least one driver function is a core driver function that is associated with a single one of the primitive motion operations, and
the driver code of at least one software driver associates at least one driver function with at least one control command of the at least one set of control commands associated with at least one of the software drivers, and
a motion component comprising component code, where the motion component exposes an application programming interface comprising a set of component functions, where
each component function is implemented by component code,
at least the component code is independent of the plurality of sets of control commands, and
the motion component uses a function table to associate at least one of the component functions with at least one of the driver functions, and
whereby
the at least one selected software driver generates at least one control command from the set of control commands associated with the at least one selected controller based on the calls to component functions of the application program, the component code, and the driver code of the at least one selected software driver.
47. A motion control system as recited in claim 46 , in which the motion component uses a function table to associate at least one component function with a plurality of core driver functions.
48. A motion control system as recited in claim 46 , in which:
the component code implements at least one extended driver function by associating at least one component function with a plurality of core driver functions; and
the component code implements at least one core driver function by associating at least one component function with one of the core driver functions.
49. A motion control system as recited in claim 46 , in which:
the component code emulates at least one extended driver function by associating at least one component function with a plurality of the core driver functions;
the component code implements at least one extended driver function by associating at least one component function with one of the extended driver functions; and
the component code implements at least one core driver function by associating at least one component function with one of the core driver functions.
50. A motion control system as recited in claim 46 , in which the application program further comprises at least one call to a component function comprising at least one parameter, where:
the at least one parameter is associated with a data item associated with the at least one selected controller; and
the at least one parameter is passed from the application program to the at least one selected software driver by the motion component.
51. A motion control system as recited in claim 46 , in which the software drivers are binary modules.
52. A motion control system as recited in claim 46 , in which the software drivers conform to the service provider interface such that the software drivers may be interchanged without changing the component code.
53. A motion control system as recited in claim 46 , further comprising a plurality of streams, where each stream contains transmit stream code that determines how control commands are transmitted to a destination of control commands.
54. A motion control system as recited in claim 53 , in which the destination of the control commands is the at least one selected controller.
55. A motion control system as recited in claim 53 , where in at least one stream is a stream binary module that can be interchanged with other stream binary modules without changing the software driver that uses the stream.
56. A motion control system as recited in claim 53 , in which the destination of the control commands is a file.
57. A motion control system as recited in claim 46 , in which:
the motion component is a component binary module;
the software drivers are driver binary modules; and
the driver binary modules may be interchanged without changing the component binary module.
58. A motion control system as recited in claim 46 , wherein the control commands of each of the plurality of controller languages comprise binary codes.
59. A motion control system as recited in claim 46 , in which the function table is a function pointer table.