RE: [Embedlets-dev] CNC machine controller -> JSIMM, TStik, Muvium (go with current event model...)

[James C. <ca...@vi...>]

Ted, Some Questions:

So looking at the controller it has direction and stepping requirments..
Simple enough to generate.

So three axis have to be controlled simultaneously to make any sense all
of which need to be sequenced from the one controller so I imagine the
muvium device sitting in JSIMM backplane will receive commands from the
embedlet and execute the commands.

Commands Like.

LineTo(X,Y,Z,T) - Move a linear distance in X,Y,Z in time T
Accelerate(dx,dy,dz,T) - Accelerate from the current position at rate
dx,dy,dz for time T

The JAPL interface would have these commands, we would have a proxy that
is instantiated in the Embedlet and the Embedlet would issue these
commands according to the current thing under construction in addition
to issuing other commands such as monitoring emergency off switches or
tool-changes and so forth.

The JAPL Proxy would send instructions to the muvium implementation over
some sort of infrastructure we create hopefully generic to transport
such commands.. The simplest is a custom protocol over uART or SPI, the
more generic sophisticated being a SLIP WebServices RMI communication
into the muvium device.

Is this the idea you have? 
?How far down the track are you with the commands you expect the muvium
servo controller to execute (if this is the technique you have in mind)
?Is there some standard you are following for generating such commands

James Caska
www.muvium.com
uVM - 'Java Bred for Embedded'



-----Original Message-----
From: emb...@li...
[mailto:emb...@li...] On Behalf Of
Ted Kosan
Sent: Tuesday, 24 June 2003 8:54 AM
To: emb...@li...
Subject: [Embedlets-dev] CNC machine controller -> JSIMM, TStik, Muvium
(go with current event model...)


Topic tags:[ARCH][JAPL][WIRING][DOCS][MGMT][STRATEGY][NEWBIE]
_______________________________________________

James wrote:

> What we really need for the embedlets is a great example to drive out 
> the issues. I know that Ted Kosan has begun to work on the 3-Axis 
> Plasma Cutter.

And I am ready go now!


Here is the CNC Plasma Cutting machine that I have coming:

http://etwb.javadevices.org/misc/plasma1.jpg


Here are the servo drivers I am using:

http://www.geckodrive.com/item.htbml?order_id=0&item_id=G320


And here is one of the servos:

http://etwb.javadevices.org/misc/cmc-servo2.jpg


I have been keeping this project kind of quiet until I had most of the
pieces in place but I guess it is time to bring it out in the open.
During the past month or so I have helped form a group of about 25
CAD/CAM/CNC people in order to start designing a network-centric CIM
(Computer Integrated Manufacturing) framework which leverages Embedlets.

http://groups.yahoo.com/group/newcim/

The above mentioned CNC plasma cutter is going to be an Embedlets based,
100% pure Java test-bed machine for this effort and this is what
hardware the controller is going to consist of:

1) A JSimm backplane:  http://jsimm.com

2) A TStik as the host for the Embedlet container: http://tstik.com

3) A muvium on a JSIMM card plugged into the backplane in order to
inexpensively handle the application's realtime needs:
http://muvium.com.


My current thinking on the Embedlets event issue is that we really
should give the container, as currently designed, a rigerous
industrial-quality test like this to see how well it performs. 

Beyond this, the new SLEE container appears to use almost the same model
as we currently have for Embedlets:

http://java.sun.com/products/jain/article_slee_principles.html

I think that this fact validates the approach that Andrzej pushed for
and I do not see a reason to prematurely gut the current event model
before it has been tested.


James, after thinking about the Embedlets/muvium issue for a while now,
it is my opinion that muvium's most likely initial role is to provide
inexpensive realtime capabilities to an Embedlet container as described
above.  In order to fulfill this role it does not need to host an
Embedlet container, all it needs to do is to be able to implement a JAPL
interface using mostly the software foundation you have already created.

Is there any chance I can talk you into setting aside trying to
implement an Embedlets container on muvium for right now and help me to
develop a JAPL/muvium based realtime servo motor controller that can
plug into a JSIMM backplane and talk to a TStik?

I now have almost all the parts I need to put this thing together and I
also have almost all of the next two months available to devote to this
project.

I would really like to see how good of a muvium based 3+ axis servo
controller we can come up with in 2 months!


Ted

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