RE: [Embedlets-dev] CNC machine controller -> JSIMM, TStik, Muvium

[Ted K. <tk...@ya...>]

James,

> 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.

I would like the muvium motion controllers to be pluggable so that if one
muvium JSIMM card could handle up to 4 axis simultaneously, then if I plug in 2
muvium JSIMM cards I can control up to 8 axis and if I plug in 3 cards I can
control up to 12 axis, etc.



> 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

Yes, the commands should be similar to this and I am hoping that the CNC people
in the newcim group will be able to nail down exactly what this interface
should look like.



> 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.

This is how I envisioned it working too.



> 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?

Yes, this is the idea!  The JSIMM backplane also has I2C available and for some
reason SLIP over I2C keeps popping into my head but I am for going with
whatever works the best.



> ?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

As soon as the fundamental design gets firmed up a bit, I will ask the experts
in the newcim group what command-set makes the most sense.


Ted

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