Controlled Deceleration of Moveable Components in a Computer Numerically Controlled Machine

Abstract

A method of altering a rate of executing a motion plan by a computer-numerically-controlled machine can include: receiving, at a control unit of a computer-numerically-controlled machine and from a general purpose computer that is housed separately from the computer-numerically-controlled machine, a motion plan defining operations for causing movement of a moveable component of the computer-numerically-controlled machine; and altering, in response to a command received at the computer-numerically-controlled machine, a first execution rate of the operations to a second execution rate of the operations to change a rate of movement of the movable component. Systems and articles of manufacture, including computer program products, are also provided.

1 . A computer-implemented method comprising:
 receiving, at a control unit of a computer-numerically-controlled machine and from a general purpose computer that is housed separately from the computer-numerically-controlled machine, a motion plan defining operations for causing movement of a moveable component of the computer-numerically-controlled machine; and   altering, in response to a command received at the computer-numerically-controlled machine, a first execution rate of the operations to a second execution rate of the operations to change a rate of movement of the movable component.   
     
     
         2 . The computer-implemented method of  claim 1 , further comprising delivering, by the computer-numerically-controlled machine, electromagnetic energy to effect a change in a material within an interior space of the computer-numerically-controlled machine. 
     
     
         3 . The computer-implemented method of  claim 1 , wherein the command is initiated by a user. 
     
     
         4 . The computer-implemented method of  claim 1 , wherein the command comprises a halt command, and wherein the altering of the first execution rate to the second execution rate comprises bringing the movable component of the computer-numerically-controlled machine to a stop in response to the halt command received at the computer-numerically-controlled machine. 
     
     
         5 . The computer-implemented method of  claim 4 , wherein the movable component is brought to a halt by at least sending commands to the movable component at a slower rate near an end of a motion of the movable component. 
     
     
         6 . The computer-implemented method of  claim 1 , wherein the command comprises a start command, and wherein the altering of the first execution rate to the second execution rate comprises resuming an operation of the moveable component of the computer-numerically-controlled machine in response to the start command received at the computer-numerically-controlled machine. 
     
     
         7 . The computer-implemented method of  claim 1 , wherein the first execution rate is altered to the second execution rate by at least adding a delay between one or more operations in the motion plan to change the rate of movement of the movable component. 
     
     
         8 . The computer-implemented method of  claim 7 , further comprising executing the one or more operations of the motion plan, including the delay, in a reversed order to accelerate the movable component. 
     
     
         9 . The computer-implemented method of  claim 7 , wherein the delay is added by repeating at least one instruction per signal line transition, skipping a number of pulses per signal line transition, and/or slowing the frequency of clock pulses. 
     
     
         10 . The computer-implemented method of  claim 1 , wherein the alteration is based at least on an image of the movable component, and wherein the image acquired with a camera in the computer-numerically-controlled machine. 
     
     
         11 . A system comprising:
 at least one data processor; and   at least one memory including instructions, which when executed by the at least one data processor, causes operations comprising:
 receiving, at a computer-numerically-controlled machine and from a general purpose computer that is housed separately from the computer-numerically-controlled machine, a motion plan defining operations for causing movement of a moveable component of the computer-numerically-controlled machine; and 
 altering, in response to a command received at the computer-numerically-controlled machine, a first execution rate of the operations to a second execution rate of the operations to change a rate of movement of the movable component. 
   
     
     
         12 . The system of  claim 11 , further comprising delivering, by the computer-numerically-controlled machine, electromagnetic energy to effect a change in a material within an interior space of the computer-numerically-controlled machine. 
     
     
         13 . The system of  claim 11 , wherein the command comprises a halt command, and wherein the altering of the first execution rate to the second execution rate comprises bringing the movable component of the computer-numerically-controlled machine to a stop in response to the halt command received at the computer-numerically-controlled machine. 
     
     
         14 . The system of  claim 13 , wherein the movable component is brought to a halt by at least sending commands to the movable component at a slower rate near an end of a motion of the movable component. 
     
     
         15 . The system of  claim 11 , wherein the command comprises a start command, and wherein the altering of the first execution rate to the second execution rate comprises resuming an operation of the moveable component of the computer-numerically-controlled machine in response to the start command received at the computer-numerically-controlled machine. 
     
     
         16 . The system of  claim 11 , wherein first execution rate is altered to the second execution rate by at least adding a delay between one or more operations in the motion plan to change the rate of movement of the movable component. 
     
     
         17 . The system of  claim 16 , further comprising executing the one or more operations of the motion plan, including the delay, in a reversed order to accelerate the movable component. 
     
     
         18 . The system of  claim 17 , wherein the delay is added by repeating at least one instruction per signal line transition, skipping a number of pulses per signal line transition, and/or slowing the frequency of clock pulses. 
     
     
         19 . The system of  claim 11 , wherein the alteration is based at least on an image of the movable component, and wherein the image acquired with a camera in the computer-numerically-controlled machine. 
     
     
         20 . A computer program product comprising instructions, which when executed by at least one data processor, cause operations comprising:
 receiving, at a control unit of a computer-numerically-controlled machine and from a general purpose computer that is housed separately from the computer-numerically-controlled machine, a motion plan defining operations for causing movement of a moveable component of the computer-numerically-controlled machine; and   altering, in response to a command received at the computer-numerically-controlled machine, a first execution rate of the operations to a second execution rate of the operations to change a rate of movement of the movable component.