Motion control systems

Abstract

A system for communicating with a motion controller, comprising a set of primitive motion commands and non-primitive motion commands, a set of motion operations, a reprogrammable motion controller capable of executing at least one motion command, a set of selectable software modules, and a software system. Functionality of the non-primitive motion commands can be emulated by a combination of primitive motion commands. Functionality of the primitive motion commands cannot be emulated by a combination of primitive motion commands. At least one motion operation is associated with at least one motion command. At least one software module is associated with at least one motion controller, and at least two selectable software modules expose a common software interface. The software system is capable of commanding at least one motion controller to perform at least one motion operation using the common software interface exposed by at least one selected software module associated with at least one motion controller.

1 - 192 . (canceled) 
   
   
       193 . A system for communicating with a motion controller, comprising:
 a set of motion commands, where the set of motion commands comprises primitive motion commands and non-primitive motion commands, wherein
 functionality of the non-primitive motion commands can be emulated by a combination of primitive motion commands, and 
 functionality of the primitive motion commands cannot be emulated by a combination of primitive motion commands; 
   a set of motion operations, where at least one motion operation is associated with at least one motion command;   a reprogrammable motion controller capable of executing at least one motion command;   a set of selectable software modules, where
 at least one software module is associated with at least one motion controller, and 
 at least two selectable software modules expose a common software interface; and 
   a software system that is capable of commanding at least one motion controller to perform at least one motion operation using the common software interface exposed by at least one selected software module associated with at least one motion controller.   
   
   
       194 . A system as recited in  claim 193 , in which a definition of the common software interface is programmatically acquirable. 
   
   
       195 . A system as recited in  claim 193 , in which a definition of the common software interface is acquirable from at least one of the selectable software modules in the set of selectable software modules. 
   
   
       196 . A system as recited in  claim 193 , further comprising an operating system on which the software module is run. 
   
   
       197 . A system as recited in  claim 196 , in which a definition of the common software interface is acquirable from the operating system. 
   
   
       198 . A system as recited in  claim 193 , in which a definition of the common software interface is acquirable from a persisted storage medium. 
   
   
       199 . A system as recited in  claim 198 , in which the persisted storage medium is a disk file. 
   
   
       200 . A system as recited in  claim 193 , in which at least one motion operation causes data to be read from the motion controller. 
   
   
       201 . A system as recited in  claim 193 , in which at least one motion operation causes data to be received from the motion controller. 
   
   
       202 . A system as recited in  claim 193 , in which at least one motion operation causes motion data to be written to the motion controller. 
   
   
       203 . A system as recited in  claim 193 , in which at least one motion operation causes an object to move. 
   
   
       204 . A system as recited in  claim 193 , in which at least one primitive motion operation causes a motion device to move. 
   
   
       205 . A system as recited in  claim 193 , in which the software system further comprises a user interface for selecting at least one selectable software module. 
   
   
       206 . A system as recited in  claim 193 , in which the software system further comprises software functionality that programmatically selects at least one selectable software module. 
   
   
       207 . A system as recited in  claim 193 , further comprising a selection software module comprising a user interface that allows at least one selectable software module to be selected. 
   
   
       208 . A system as recited in  claim 193 , further comprising a selection software module comprising software functionality that programmatically selects at least one selectable software module. 
   
   
       209 . (canceled) 
   
   
       210 . A system as recited in  claim 193 , in which the motion operations comprise primitive motion operations and non-primitive motion operations, wherein:
 functionality of the non-primitive motion operations can be emulated by a combination of primitive motion operations;   functionality of the primitive motion operations cannot be emulated by a combination of primitive motion operations;   each non-primitive motion operation is associated with at least one non-primitive motion command; and   each primitive motion operation is associated with at least one primitive motion command.