Motion control systems and methods

a technology of motion control and control system, applied in the direction of program control, electric programme control, instruments, etc., can solve the problems of not providing the application programmer with the ability to control the hardware in base incremental steps, and the software driver model currently used for printers and the like is not applicable to the development of a sequence of control commands for motion control devices

Inactive Publication Date: 2006-10-26
ROY G BIV CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

While this approach does isolates the application programmer from the complexities of programming to each hardware configuration in existence, this approach does not provide the application programmer with the ability to control the hardware in base incremental steps.
The software driver model currently used for printers and the like is thus not applicable to the development of a sequence of control commands for motion control devices.

Method used

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  • Motion control systems and methods
  • Motion control systems and methods
  • Motion control systems and methods

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0326] The first example illustrates how the language driver 44 might deal with the Driver function IXMC_DrvExt_Test::Move.

Cmd Format: D % d,+:@[snd]GO%b+:@[snd]

Rsp Format: @[crlf]>@[rcv]@[crlf]>@[rcv]

Driver function Call: pXMCDrvExtTest->Move(20.0, 30.0)

[0327] This function call directs the motion control device to move 20 units in the x direction and 30 units in the y direction.

[0328] The driver communicates with the stream as follows:

[0329] Step 1. Perform the operation in the command format template up to the first @ symbol. This builds a raw command string of “D20.0,30.0:”

[0330] Step 2. After the first @ symbol is the send command, which sends the string that was built in step 1. The language driver has now reached the G in the command format template.

[0331] Step 3. After the send command, the language driver reads a response from the stream to confirm that the command string was received and processed correctly. The response string received from the stream is as follow...

example 2

[0336] The second example illustrates how the language driver 44 might deal with the Driver function IXMC_DrvExt_Test::SetVelocity.

Cmd Format: V%If,+:@[snd]

Rsp Format: @[crlf]>@[rcv]

Driver function Call: pXMCDrvExtTest->SetVelocity(NOP, 22.0)

Explanation Set the velocity of the y axis to 22.0.

Raw Command String: “V,22.0:”

Raw Response String: “\r\n>” (expected)

example 3

[0337] The third example illustrates how the language driver 44 might deal with the Driver function

IXMC_DrvExt_Test::GetVelocity.

Cmd Format: GV%b+:@[snd]

Rsp Format: % d,+@[crlf]>@[rcv]

Driver function Call: pXMCDrvExtTest->GetVelocity(NOP, &dfY_Vel)

Explanation Get the velocity set for the y axis.

Raw Command String: “GV01:”

Raw Response String: “,44.0\r\n>” (expected)

dfY_Vel=44.0

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Abstract

A method in a robot of providing hardware abstraction for robot control software. A plurality of resource drivers for the robot includes resource drivers for which no corresponding hardware is present on the robot. Resources that are available on the robot are automatically detected based a hardware configuration detected for the robot. A request is received from the robot control software to use a type of resource. A resource that corresponds to the type of resource requested by the robot control software is automatically selected. A first information related to use of the selected resource is provided in a unit of measure that is related to a robot. A second information related to the use requested by the robot control software is provided in a unit of measure that is related to a corresponding device. The method converts between the first information and the second information based on the detected configuration of the robot.

Description

RELATED APPLICATIONS [0001] This is a continuation of U.S. patent application Ser. No. 11 / 084,673 filed on Mar. 18, 2005, which is a continuation of U.S. patent application Ser. No. 10 / 316,451 filed on Dec. 10, 2002, which is a continuation of U.S. patent application Ser. No. 10 / 021,669 filed on Dec. 10, 2001, now U.S. Pat. No. 6,516,236, which is a continuation of U.S. patent application Ser. No. 09 / 191,981 filed on Nov. 13, 1998, now abandoned, which is a continuation of U.S. patent application Ser. No. 08 / 656,421 filed on May 30, 1996, now U.S. Pat. No. 5,867,385, which is a continuation-in-part of U.S. patent application Ser. No. 08 / 454,736 filed on May 30, 1995, now U.S. Pat. No. 5,691,897. [0002] This application is also a continuation of U.S. patent application Ser. No. 09 / 795,777 filed on Feb. 27, 2001 now U.S. Pat. No. 6,513,058, which is incorporated by reference in its entirety and which is a continuation of U.S. patent application Ser. No. 09 / 205,627 filed on Dec. 3, 199...

Claims

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Application Information

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Patent Type & Authority Applications(United States)
IPC IPC(8): G06F19/00G05B19/18
CPCB25J9/1602G05B19/0426G05B19/19G05B19/416G05B2219/23262G05B2219/43167G05B2219/34216G05B2219/34287G05B2219/36035G05B2219/36036G05B2219/23265
Inventor BROWN, DAVID W.CLARK, JAY S.
Owner ROY G BIV CORP
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