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

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

Well seems we are on the same wavelength with this one.

>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.

Well then you have a lot of work left to do... The task of getting from
a diagram of something to 'make' to a set of servo commands is not
exactly trivial. I wonder if there is some standard for this. Is this a
conversation for the CNC group?


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



-----Original Message-----
From: emb...@li...
[mailto:emb...@li...] On Behalf Of
Ted Kosan
Sent: Wednesday, 25 June 2003 7:15 AM
To: emb...@li...
Subject: RE: [Embedlets-dev] CNC machine controller -> JSIMM, TStik,
Muvium


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

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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