ABB Inc.
`
`EXHIBIT 1001
`
`Page 1 of 107
`
`

`
`US 6,513,058 B2
`Page 2
`
`U.S. PATENT DOCUMENTS
`
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`4,846,693 A
`8/1989 Fernandez
`4,855,725 A
`8/1989 Rose
`4,857,030 A
`12/1989 Gellerman
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`6/1990 Schwane et al.
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`10/2000 Venkatraman et al.
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`11/2000 Govindarai et al.
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`OTHER PUBLICATIONS
`
`................ .. 700/1
`
`...... .. 700/104
`
`WEB 3.0 Products Brochure, Trihedral Engineering Ltd.
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`
`The Complete, Computer-Based Automation Tool (IGSS)
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`Paragon TNT Product Brochure, Intec Controls corp.; 6
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`Microsoft; “Open Systems: Technology, Leadership, and
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`
`Page 2 of 107
`Page 2 of 107
`
`

`
`US 6,513,058 B2
`Page 3
`
`Michaloski et 1a.; “A Framework for Component-base CNC
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`Bouzouia et al.; “A Three-layer Workcell Control Architec-
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`
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`
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`1997, pp. 60-64.
`
`* cited by examiner
`
`Page 3 of 107
`Page 3 of 107
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`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 1 of 68
`
`US 6,513,058 B2
`
`TO/FROMFIG.IB
`
`- UNKNOWN
`
`gg)%¥ggL
`STANDARD OLE INTERFACES
`DRIVER A
`CORE INTERFACES -
`EXTENDED INTERFACES - HARDWARE
`EXTENDED un INTERFACES -
`A
`CODE GENERATION INTERFACES -
`LANGUAGE
`VENDOR SPECIFIC INTERFACES
`DEPENDENT
`
`TO/FROM FIG.
`
`ID
`
`Page 4 of 107
`Page 4 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 2 of 68
`
`US 6,513,058 B2
`
`FIG.
`
`IB
`
`
`
`38
`
`' UNKNOWN
`
`° STANDARD OLE
`
`DRIVER
`INTERFACES
`ADMINISTRATOR
`CPL
`
`DRIVER
`ADMIN
`
`- CUSTOM OLE
`INTERFACES
`
`
`
`
`
`
`
`40
`
`DDE SERVER
`
`32
`
`IUKNOWN
`
`35
`
`TO/FROMFIG.IC
`
`STANDARD OLE INTERFACES
`
`GENRAL INTERFACES -
`MOWON
`
`
`CODE GENERATION INTERFACES -
`CONTROL
`DIAGNOSTIC INTERFACES
`COMPONENT
`
`
`
` TO/FROMFIG.IA
`
` INKNOWN
`
` STANDARD OLE INTERFACES '
`
`
`MOTION
`,
`EXTENDED INTERFACES '
`CONTROL
`
`
`EXTENDED UI INTERFACES
`DRIVER STUB
`
`
`
`
`
`t
`.UNKNOWN
`
`36
`
`I
`
`30b
`
`M
`OTION
`STANDARD OLE INTERFACES -
`CONTROL
`CDRE INTERFACES -
`
`DRIVERB
`EXTENDED INTERFACES -
`
`
`HARI,33WARE
`EXTENDED Ul INTERFACES -
`
`
`LANGUAGE
`CODE GENERATION INTERFACES -
`VENDOR SPECIFIC INTERFACES - DEPENDENT
`
`
`
`
`
`
`
`TO/ FROM FIG.
`
`IE
`
`Page 5 of 107
`Page 5 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 3 of 68
`
`US 6,513,058 B2
`
`FIG.
`
`IC
`
`
`
`TO/FROMFIG.IB
`
`STANDARD OLE INTERFACES
`
`MOTION
`
`E TEs32s:ITE.WS o°r%IEE%L
`x
`FACES
`EXTENDED uu INTERFACES HARDé’VARE
`CODE GENERATION INTERFACES ° LANGUAGE
`VENDOR SPECIFIC INTERFACES - DEPENDENT
`
`30c
`
`TO/FROM FIG. IF
`
`Page 6 of 107
`Page 6 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 4 of 68
`
`US 6,513,058 B2
`
`FIG.
`
`ID
`
`TO/FROM FIG.
`
`IA
`
`
`INKNOWN
`
`
`INKNOWN
`ISTREAM MOTION CONTROL
`V
`'
`TEXT FILE
`MOTION CONTROL
`STREAM
`PC BUS
`TEXT
`STREAM
`COMMUNICATION
`PROTOCOL
`Pc Bus
`
`
`COMMUNICATION
`
`PROTOCOL
`
`
`
`
`
`
`
`
` OUTPUT FILE
`
`I""'-""'—
`
`
` TO/FROMFIG.IE
`PERSONALCOMPUTERHARDWARE '"fl"!'IR HARDWARE
`I
`MECHANICAL
`I80
`
`
`
`CONTROLLER A
`
`
`
`1
`
`SYSTEM A
`
`
`
`PERSONAL COMPUTER HARDWARE BUS
`
`200
`
`
`
`
`MOTION CONTROL
`DEVICE A
`
`Page 7 of 107
`Page 7 Of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 5 of 68
`
`US 6,513,058 B2
`
`FIG. IE
`
`TO/FROM FIG.
`
`IB
`
`INKNOWN
`
`ISTREAM - MOTION CONTROL
`PC BUS
`STREAM
`PC BUS
`COMMUNICATION
`PROTOCOL
`
`Zeb
`
`TO/FROMFIG.IF
`
`Page 8 of 107
`Page 8 of 107
`
`TO/FROMFIG.ID
`
`““"I!‘!'I‘—
`HARDWARE
`I
`CONTROLLER B -
`
` |6b
`
`|8b
`
`20b
`
`
`
`I
`
`
`
`MECHANICAL
`
`SYSTEM A
`
`MOTION CONTROL
`DEVICE B
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 6 of 68
`
`US 6,513,058 B2
`
`FIG. IF
`
`TO/FROM FIG.
`
`IC
`
`IUN KNOWN
`
`ISTREAM MOTION CONTROL
`HARDWAREC
`PC BUS STREAM
`SPECIAL PC BUS
`coMMuNmAnoN
`PRoToam_FoR
`HARDWARE C
`
`286
`
`!4
`
`TO/FROMFIG.IE
`
`|6c
`
`l8c
`
`20c
`
`IIII ""I
`
`
`
`
`I lb
`|
`HARDARE
`CONTROLLER c
`I
`MECHANICAL
`I
`
`
`SYSTEM A
`
`MOTION CONTROL
`DEVICE C
`
`Page 9 of 107
`Page 9 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 7 of 68
`
`US 6,513,058 B2
`
`ExcELAPPucAnoN§
`§ WSUMJMGKJAH?
`§
`§C++APPucATKn4
`§
`
`|_ _ _ _ _ _ . _ _ _ _ _ _
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`I XMC_xxxAP|
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`32
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`
`Page 10 of 107
`Page 10 of 107
`
`. lUnknown
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`
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`
`36
`
`lXMC_xxxSPl.
`
`30
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 8 of 68
`
`US 6,513,058 B2
`
`' lUnknown
`
`DRIVER
`
`ADMIN.
`
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`32
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`FIG. 3
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`
`30
`
`Page 11 of 107
`Page 11 of 107
`
`CCmpntDisp
`
`CDriverAdmin
`
`CDriverMgr
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 9 of 68
`
`US 6,513,058 B2
`
`4
`
`32
`
`IlUnknown
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`
`30
`
`Page 12 of 107
`Page 12 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 10 of 68
`
`US 6,513,058 B2
`
`FIG. 5
`
` :
`
`\/ISUAL BASIC APP.
`5 C++ APPLICATION
`
`
`
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`
`30
`
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`
`
`Page 13 of 107
`Page 13 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 11 of 68
`
`US 6,513,058 B2
`
`FIG. 6
`
` :""""""""""""""""""""""" PCS Measurements
`
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`
`6
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`Measuremems
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`
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`
`Page 14 of 107
`Page 14 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 12 of 68
`
`US 6,513,058 B2
`
`FIG. 7
`
`|XMC_UDxxxSPl
`
`36
`
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`
`DRIVER
`STUB
`
`Page 15 of 107
`Page 15 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 13 of 68
`
`US 6,513,058 B2
`
`FIG. 8
`
`EXCEL APPLICATION
`VISUAL BASIC APP.
`c++ APPLICATION
`
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`Page 16 of 107
`Page 16 of 107
`
`
`
`36
`
`
`
`lXMC_xxxSPl 0
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`
`
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 14 of 68
`
`US 6,513,058 B2
`
`FIG. 9
`
` CComponentOjbect
`
`
`
`IUnknown
`
`
`
`
`
`!CIassFactory
`
`IDispatch
`
`
`
`
`
`Standard OLE 2.0 Interfac
`
`Standard OLE 2.0 Interface
`
`Standard OLE 2.0 Interface
`
`API Interfaces -------------------- H
`
`
`
`IXMC_API_1 ,
`
`XMCAPI Interface #1
`
`IXMC_API_2 .
`
`XMCAPI Interface #2
`
`
`
`
`
`Page 17 of 107
`Page 17 of 107
`
`
`
`O O O
`
`XMCAPI Interface #n
`
`IXMC_API_n .
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 15 of 68
`
`US 6,513,058 B2
`
`FIG. 10
`
`I ' '
`
`'
`
`'
`
`' -_lNFO struct
`
`DRVEXT_Xn_INTERFACElDs enum
`
`
`
`
`
`lXMC_DrvExt_X1
`
`lXMC_DrvExt_X2
`
`O O O
`
`lXMC_DrvExt_Xn
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`DRVEXT_METHOD_lNFO struct
`
`XMC_SUPPORTTYPE m__st;
`
`Cstring
`
`m_strName;
`
`LPFNDRVEXT
`
`m_pfnMethod;
`
`Page 18 of 107
`Page 18 of 107
`
`
`
`
`
`DRVEXT_lNTERFACE_|NFO struct
`
`DRVEXT_Xn_METHOD|Ds enum
`
`
`
`Method|nfo_1
`
`Methodlnfo_2
`
`O O O
`
`Method|nfo_n
`
`
`
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 16 of 68
`
`US 6,513,058 B2
`
`FIG. 11
`
`lXMC__xxxAPI
`
`32
`
`
`
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`
`
`
`DRIVER
`
`ADMIN.
`
`34
`
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`
`MOTION
`
`
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`
`IXMC_xxxAPI
`
`COMPONENT
`
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`
`|XMC_xxxSPl
`
`DRIVER
`
`lUnknown
`
`lXMC_xxxUDSPI
`
`STREAM
`
`28
`
`Page 19 of 107
`Page 19 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 17 of 68
`
`US 6,513,058 B2
`
`FIG. 12
`
`. lUnknown
`
`|XMC_XXXAP|
`
`DR“/ER
`
`ADMIN.
`
`
`
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`
` |XMC_xxxAPl
`MOTION
`
`COMPONENT
`
`
`
`g |Unknown
`
`
`
`.............................
`
`
`
`
`CStrea nvrDIsp
`
`CCommandMg
`
`
`
`
`
`
`
`
`
`CResponseList
`
`CC°mm3“dLi3
`
`|Unknown
`
`|XMC_xxxUDSP|
`
`STREAM
`
`Page 20 of 107
`Page 20 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 18 of 68
`
`US 6,513,058 B2
`
`FIG. 13
`
`. |Unknown
`
`|Unknown
`
`lXMC_xxxAPl
`
`
`
`.-
`
`,...u
`
`.n-'
`
`
`
`
`—-ii-'
`CStreamMg ‘
`0
`C
`DrivrDisp
`
`
`Page 21 of 107
`Page 21 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 19 of 68
`
`US 6,513,058 B2
`
`FIG‘ 15
`
`lXMC_xxxAPl
`
`|Unknown
`
`
`DRIVER
`
`ADMIN.
`
`Stream CLSID
`
`. lUnknown
`
`
`
`a
`
`.uI"
`
`. . . . - "
`
`u-'
`
`------ -I
`
`lXMC_xxxUDSPl
`
`STREAM
`
`Page 22 of 107
`Page 22 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 20 of 68
`
`US 6,513,058 B2
`
`IUnknown
`
`lXMC_xxxAP|
`
`
`
`DRIVER
`
`ADMIN.
`
`. lUnknown
`
`.--
`
`_,.--
`
`...-
`
`.¢-
`
`,.--
`
`.-
`
`.... --
`
`...-
`
`.-
`
`-on
`
`.--u
`
`.--"
`
`..-
`
`__.--
`
`_ . . . --
`
`...u
`
`_ , . . .-
`
`..u
`
`__...
`
`..u-
`
`..---
`
`FIG. 18
`
`|XMC_xxxAPl
`
`
`lXMC_xxxSPl
`........
`
`CStrea Mg ‘‘jg.
`‘a
`CCommandMg
`
`
`
`—-j-1-—'
`
`
`
`
`
`Page 23 of 107
`Page 23 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 21 of 68
`
`US 6,513,058 B2
`
`FIG. 19
`
`. lUnknown
` lXMC_xxxAPI
`
`MOTION
`
`COMPONENT
`
`
`
`.-.--
`
`. - . . --
`
`us...
`
`..u.a
`
`. - . . --
`
`,..-.
`
`.oo-'
`
`...--
`
`.-
`
`. . . ~ . . - I-
`
`. . . - "
`
`_ _
`
`. . . --
`
`u...
`
`. . . - - ' "
`
`....-
`
`.-..
`
`'
` .
`.
`E
`
`CStrea r|vrDIsp
`
`3 CCommandMg 9
`
`
`
`|XMC_xxxUDSPl
`
`STREAM
`
`
`
`
`
`
`Page 24 of 107
`Page 24 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 22 of 68
`
`US 6,513,058 B2
`
`FIG. 20
`
`. lUnknown
` lXMC_xxxAPl
`
`MOTION
`
`COMPONENT
`
`. IUnknown
`
`
`
`
`lXMC_xxxUDSPl
`
`‘
`
`STREAM
`
`
`
`
`
`Page 25 of 107
`Page 25 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 23 of 68
`
`US 6,513,058 B2
`
`FIG. 21
`
`CDriverObject
`
`
`
`. lUnknown
`
`
`
`IC|assFactory .
`
`
`
`Standard OLE 2.0 Interfac
`
`Standard OLE 2.0 Interface
`
`
`
`
`SPI Core Interfaces """""""""""" '-
`
`XMCSPI Core Interface #3
`
`O 8
`
`XMCSPI Core Interface #n
`
`SPI Extended Interfaces ----------- --
`
`IXMC_DrvCore_
`
`Staticstate
`
`|XMC_DrvCore_
`Dynamicstate O
`
`|XMC_DrvCore_
`SPI_3
`
`IXMC_DrvCore
`SPI_n
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`IXMC_DrvExt_
`streammgmt .
`
`Add, Remove, Enable,
`
`
`
`XMCSPI Extended Interface #2
`
`o 8
`
`XMCSPI Extended Interface #n
`
`Page 26 of 107
`Page 26 of 107
`
`IXMC_DrvExt_
`Sp|_2
`
`IXMC_DrvExt_
`3p|_n
`
`
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 24 of 68
`
`US 6,513,058 B2
`
`F|G_
`
`|XMC_xxxAP|
`
`lUnknown
`
`lUnknown
`
`DRIVER
`ADMIN.
`
`lXMC_xxxSP|
`
`DWVER
`
`' lUnknown
`
`lXMC_xxxUDSP|. I MONITOR
`
`STREAM
`
`DBG
`
`j F
`
`ILE
`
`D VICE
`
`D VICE
`
`DRIVER
`(WinNT)
`
`DRIVER
`(Win95)
`
`SERIAL I/O
`
`Page 27 of 107
`Page 27 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 25 of 68
`
`US 6,513,058 B2
`
`FIG.
`
`IXMC_xxxSPI .
`
`IXMC_xxxAP| .
`
`
`
`0 IUnknown
`
`DRIVER
`ADMIN.
`
`
`
`' IUnknown
`
`DRIVER
`
`
`
`0 |Unknown
`
`CStreamDisp
`
`CRegistryMgr
`
`DBG
`
`MONITOR
`
`CDbgMonlOHAL
`
`CTextFiIeIOHAL
`
`_ F
`
`ILE
`
`CPCBuslOHAL
`
`CSeria|IOHAL
`
`DEVICE
`
`DEVICE
`
`DRIVER
`(WmNT)
`
`DRIVER
`(Win95)
`
`SERIAL V0
`
`Page 28 of 107
`Page 28 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 26 of 68
`
`US 6,513,058 B2
`
`IXMC_xxxAPI
`
`IUnknown
`
`ADMIN.
`
`
`
`IUnknown
`
`IXMC_xxxUDSPI o
`
`....I- "-
`9
`
`........................
`
`CStreamDisp
`
`CRegistryMgr
`
`0
`
`DBG
`
`- MONITOR
`
`
`
`CIOHAL
`
`CDbgMon|OHAL @
`
`CIOHAL
`
`CTextFiIeIOHAL 0
`
`-F
`
`ILE
`
`CPCBUSIOHAL
`
`CSeriaI|OHAL
`
`0
`
`0
`
`0
`
`DEVICE
`
`DRIVER
`
`(WInNT)
`
`DRIVER E
`
`DEVICE
`
`(Win95)
`
`SERIAL V0
`
`Page 29 of 107
`Page 29 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 27 of 68
`
`US 6,513,058 B2
`
`‘ |Unknown
`
`FIG. 25
`
`lXMC_xxxAP| .
`
`
`
`
`
`DRIVER
`
`ADMIN.
`
`0 |Unknown
`
`FIG. 26
`
`
`
`Page 30 of 107
`Page 30 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 28 of 68
`
`US 6,513,058 B2
`
`F|G_
`
`0 lUnknown
`
`lXMC_xxxAP|
`
`DRWER
`ADMIN.
`
`0 lUnknown
`
`
`
`CPCBuslOHAL
`
`CSerial|OHAL
`
`Page 31 of 107
`Page 31 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 29 of 68
`
`US 6,513,058 B2
`
`' |Unknown
`
`DFWER
`
`|XMC_xxxSP| .
`0 0 lUnknown
`
`
`
`DBG
`
`MONITOR
`
`FILE
`
`DEVICE
`
`DEVICE
`
`DRIVER
`(WinNT)
`
`DRIVER
`(Win95)
`
`(9
`
`.9
`
`FIARDWARE DEVICES
`
`SERIALI/O
`
`@
`
`Page 32 of 107
`Page 32 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 30 of 68
`
`US 6,513,058 B2
`
`0 lUnknown
`
`DRWER
`
`|XMC_xxxSP|
`0 ° lUnknown
`
`
`
`DBG
`
`MONITOR
`
`DEVICE
`
`DEVICE
`
`DRIVER
`(WinNT)
`
`6
`
`DRIVER
`(Win95)
`
`.9
`
`FIARDWARE DEVICES
`
`SERIALI/O
`
`I3
`
`Page 33 of 107
`Page 33 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 31 of 68
`
`US 6,513,058 B2
`
`F|G_
`
`0 |Unknown
`
`DRWER
`
`lXMC__xxxSP| .
`0 0 |Unknown
`
`DEVICE
`
`DEVICE
`
`DRIVER
`(WinNT)
`
`DRIVER
`(Win95)
`
`@
`
`3
`
`HARDWARE DEVICES
`
`SERIAL I/O
`
`£3
`
`Page 34 of 107
`Page 34 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 32 of 68
`
`US 6,513,058 B2
`
`F|G_
`
`|Unknown
`
`0 |Unknown
`
`lXMC__xxxSPl
`lXMC_xxxUDSPl 0.............-- ~
`
`.................................
`
`Q
`
`CStreamDisp
`
`DBG
`
` 9
`
`9
`
`3
`
`DEVICE
`
`DEVICE
`
`DRIVER
`(WinNT)
`
`DRIVER
`(Win95)
`
`.9
`
`3
`
`"HARDWARE DEVICES
`
`SERIAL I/O
`
`E
`
`
`
`Page 35 of 107
`Page 35 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 33 of 68
`
`US 6,513,058 B2
`
`FIG. 33
`
`|C|assFactory .
`
`Standard OLE 2.0 lnterfac
`
`|i
`
`Standard OLE 2.0 Interface
`
`SPI - UnDocumented """"""""""" '-
`
`|XMC_Stream .
`
`Read, Write, Enable, Stat,
`
`|XMC__Streamlnit
`
`Initialize, Open, Close, Setup,
`
`FIG. 34
`
`. |Unknown
`
`MOTION
`
`COMPONENT
`
` I XMC__xxxAP|
`
`
`|Unknown
`
`|XMC_xxxSP|
`
`
`
`. I Unknown
`
`DRIVER
`
`
`|XMC__xxxSP|
`
`Page 36 of 107
`Page 36 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 34 of 68
`
`US 6,513,058 B2
`
`FIG. 35
`
`
`
`o |Unknown
`
` MOTION
`COMPONENT
`
`|XMC_xxxAP|
`
`
`
`o._ 'n n,‘ n. 'u u._ n,_ 2.. n._ '0
`
`0....
`
`
`
`CSimpleDriver
`
`
`
`. |Unknown
`
`|XMC_xxxSP|
`
`DR|\/ER
`
`Page 37 of 107
`Page 37 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 35 of 68
`
`US 6,513,058 B2
`
`FIG. 36
`
`. lUnknown
` |XMC_xxxAPl
`
`MOTION
`
`COMPONENT
`
`
`
`|XMC_xxxSPl
`
`DRIVER
`
`
`
`
`
`
`
`
`Page 38 of 107
`Page 38 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 36 of 68
`
`US 6,513,058 B2
`
`FIG. 37
`
`lUnknown
` |XMC__xxxAPI
`MOTION
`COMPONENT
`
`
`
`lXMC_xxxSPl
`
`DRIVER
`
`Page 39 of 107
`Page 39 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 37 of 68
`
`US 6,513,058 B2
`
`FIG. 38
`
`. |Unknown
` lXMC__xxxAP|
`COMPONENT
`
`MOTION
`
`
`
` DRIVER
`
`
`
`|XMC_xxxSPl
`
`Page 40 of 107
`Page 40 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 38 of 68
`
`US 6,513,058 B2
`
`FIG. 39
`
`
`
` 0 IUnknown
`
`Standard OLE 2.0 Interfac
`
`|C|assFactory .
`
`Standard OLE 2.0 Interface
`
`
`
`
`
`
`
`Stub Specific Interfaces """"""'-
`
`RegisterDriver, UnRegisterDriver
`
`SPI Extended Interfaces -------------
`
`
`
`XMCSPI Extended Interface #1
`
`XMCSPI Extended Interface #2
`
`o 8
`
`XMCSPI Extended Interface #n
`
`Page 41 of 107
`Page 41 of 107
`
`
`IXMC_DrvStub .
`
`
`
`IXMC_DrvExt_
`Sp|_1
`IXMC__DrvExt_
`Sp|_2
`
`lXMC_DrvExt_
`3p|_n
`
`
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 39 of 68
`
`US 6,513,058 B2
`
`lUnknown
`
`
`DRIVER
`
`ADMWLCPL
`
`
`MOTION
`|XMC_xxxAP| 0
`COMPONEN
`
`pDrVEFum
`
`
`
`
`0 lUnknown
`
`
`
`
` lUnknown
`
`
`DRIVER
`|XMC_ o
`UDxxxSPl
`
`lXMC_xxxAPl 0
`
`DRIVER
`
`ADMIN.
`
`lUnknown
`
`STREAM
`
`
`
`|XMC_
`xxxSP|
`
`Page 42 of 107
`Page 42 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 40 of 68
`
`US 6,513,058 B2
`
`FIG. 41
`
`0 IUnknown
`
`
`
`
`
`
`lXMC_xxxAP| I
`COMPONEN
`
`
` .I"‘
`
`
`
`pDr%um
`
`O IUnknown
`
`
`
`|XMC_xxxAPI 0
`
`:1
`
`..-
`
`--'
`
`a
`
`.n-'
`
`,-
`
`ll‘
`
`I
`
`.-t‘
`
`.-
`
`_..u
`
`.u-
`
`.-0
`
`.-
`
`at‘
`
`t‘'
`
`
`
`DRIVER
`
`ADMIN. CPL
`
`MOTION
`
`
`
`CDriverAminDis
`
`
`
`
`CModu|eMr
`
`
`
`CDriverInfoMa
`
`
`
`
`CSimpleDriver #1
`
`CSimpIeDriver #n
`
`
`
`
`
`.,_.. In
`
`‘I..
`
`
`
` CSimleStream #n 3
`
`
`
`
`’ IUnknown
`‘ IUnknown
`
`UDXXXSPI
`
`l
`
`DRIVER
`
`o STREAM
`
`
`
`xxxSPI
`
`Page 43 of 107
`Page 43 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 41 of 68
`
`US 6,513,058 B2
`
`FIG. 42
`
`
`
`0 lUnknown
`
`IXMC_XXXAPI O
`COMPONEN
`
`MOTION
`
`ADMIN. CPL 0
`
`,-
`
`_..uI
`
`.-
`
`-
`
`' ' I '-
`
`,.u
`
`n‘‘
`
`,-nI'
`
`.m-
`
`o-'
`
`uo-'
`
`n-‘
`
`.-
`
`.u-'
`
`uh‘
`
`
`
`CModu|eMr
`
`
`
`CSimpIeDriver #1
`
`CSimp|eDriver #n
`
`
`
` 0 lUnknown
`
`|XMC_ -
`xxxSP|
`
`DRIVER
`
`
`
`Page 44 of 107
`Page 44 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 42 of 68
`
`US 6,513,058 B2
`
`FIG. 43
`
`CSimp|eDriver #1 we
`
`CSimp|eDriver #n
`
`|XMC_xxxSP| .
`
`" DRNER
`
`Page 45 of 107
`Page 45 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 43 of 68
`
`US 6,513,058 B2
`
`DRIVER
`ADM|N_ CPL
`
`DriverCLS|D,
`0 \pszStreamFileName
`
`
`
`
`
`CSim|eStream #1 5
`Cimplestream #n :
`
`
`
`Page 46 of 107
`Page 46 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 44 of 68
`
`US 6,513,058 B2
`
`lUnknown
`
`.
`DRIVER
`ADMIN. CPL |dDf'V, pDrv|nfo
`
`
`
`
`
`CSimp|eDriver#n
`
`0 |Unknown
`
`
`
`lXMC__xxxSP| 0
`
`DRIVER
`
`Page 47 of 107
`Page 47 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 45 of 68
`
`US 6,513,058 B2
`
`FIG. 46
`
`
`
`DRIVER
`
`ADMIN. CPL
`
`Q \idDrv, idStrm, pStrm|nfo
`
`
`
`0 lUnknown
`
`
`
`
`
`lUnknown
`
`|XMC_UDXXXSP| .
`
`STREAM
`
`
`
`Page 48 of 107
`Page 48 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 46 of 68
`
`US 6,513,058 B2
`
`FIG. 47
`
`0 lUnknown
`
`MOHON
`COMPONEN
`
`|XMC_o
`><><><AP'
`
`lUnknown
`
`DRIVER
`
`ADMIN.
`
`....................- -'
`
`
`
`
`
`
`CDriverAdminDis
`
`CModuleMr
`
`
`CSimp|eDriver#1'
`
`
`
`CSimp|eDriver #n
`
`lUnknown
`
`Page 49 of 107
`Page 49 of 107
`
`
`
`DRIVER
`
`|XMC_xxxSPI a
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 47 of 68
`
`US 6,513,058 B2
`
`FIG. 48
`
`_ CSimleStream #1 *
`
`CSimpleStream #n 5
`
`0 |Unknown
`
`Page 50 of 107
`Page 50 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 48 of 68
`
`US 6,513,058 B2
`
`0 |Unknown
`
`
`MOTION
`
`COMPONEN
`
`,.
`
`_..u
`
`:1‘
`
`u
`
`I I ‘ ' ' '-
`
`_..-
`
`n-'
`
`.--'
`
`,-
`
`_...-
`
`,.--
`
`CDriverAminDis
`
`CModu|eMr
`
`
`
`
`
`
`______________
`
`
`
`CSimleStream #1 5
`
`
`CSimpleDriver #1
`CSimp|eDriver #
`
`
`
`
`
`
` n...‘ '. H--
`
`CSim |eStream #n 5
`
`
`
`
`0 lUnknown
`
`3 |Unknown
`
`DRIVER
`
`|><MC_ 0
`
`XXXSPI
`
`|XMC_ .
`
`UDXXXSPI
`
`STREAM
`
`'
`
`Page 51 of 107
`Page 51 of 107
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 49 of 68
`
`US 6,513,058 B2
`
`FIG. 50
`
`. lUnknown
`
`
`
`Standard OLE 2.0 lnterfac
`
`'C'a55F3Ct0W 0
`
`Standard OLE 2.0 Interface
`
`‘Dispatch 0
`
`Standard OLE 2.0 Interface
`
`'X'V'C_EnUmD"V 0
`
`Standard |EnumX OLE 2.0 lnterfac
`
`
`
`API Interfaces ------------------------ --
`
`'XMC_
`DrvAdmin
`
`.
`|XMC__
`DrvAdminDg
`
`Register, UnRegister, Setup,
`
`EnableLogging,lsLoggingOn,...
`
`Page 52 of 107
`Page 52 of 107
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`U.S. Patent
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`Jan. 28, 2003
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`Sheet 50 of 68
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`US 6,513,058 B2
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`
`
`
`
`
`
`DRIVER
`
`ADMIN. CPL
`
`0 |Unknown
`
`
`
`
`
`
`DRIVER
`
`ADMIN.
`
`IXMC_xxxAP| 0
`
`DPERATING SYSTEM
`
`Page 53 of 107
`Page 53 of 107
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`

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`U.S. Patent
`
`Jan. 28, 2003
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`Sheet 51 of 68
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`US 6,513,058 B2
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`
`
`I Drive-rAd inDl-
`
`H
`
`I
`
`....................... .. .
`
`Page 54 of 107
`Page 54 of 107
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`U.S. Patent
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`Jan. 28, 2003
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`Sheet 52 of 68
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`US 6,513,058 B2
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`
`
`
`ADMIN. CPL
`lXMC_xxxAP! o
`
`----In--1:1: jlljlljlljlliiljlljllinljlijlljlljIljlljllilliuljilj
`BPERATING SYSTEM
`
`DFWER
`ADMIN.
`
`
`
`Page 55 of 107
`Page 55 of 107
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`

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`U.S. Patent
`
`Jan. 28, 2003
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`Sheet 53 of 68
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`US 6,513,058 B2
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`FIG. 54
`
`0 IUnknown
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` ADMIN. CPL
`|XMC_xxxAP| o
`DRWER
`ADMIN.
`
`
`
`Page 56 of 107
`Page 56 of 107
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`

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`U.S. Patent
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`Jan. 28, 2003
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`Sheet 54 of 68
`
`US 6,513,058 B2
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`o
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`‘o‘nN u
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`
`Page 57 of 107
`Page 57 of 107
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`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 55 of 68
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`US 6,513,058 B2
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`Page 58 of 107
`Page 58 of 107
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`

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`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 56 of 68
`
`US 6,513,058 B2
`
`FIG‘
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`lUnknown
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`MOTION
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`
`Page 59 of 107
`Page 59 of 107
`
`
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`|COM_xxx .
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`
`LANGUAGE
`
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`
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`|XMC_xxxU DSPI .
`
`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 57 of 68
`
`US 6,513,058 B2
`
`0 |Unknown
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`0 |Unknown
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`MONON
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`
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`
`Page 60 of 107
`Page 60 of 107
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`

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`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 58 of 68
`
`US 6,513,058 B2
`
`FIG. 60
`
`0 lUnknown
`
`DRIVER
`
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`DATABASE
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`
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`
`9
`
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`
`Page 61 of 107
`Page 61 of 107
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`

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`U.S. Patent
`
`Jan. 28, 2003
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`Sheet 59 of 68
`
`US 6,513,058 B2
`
`FIG. 61
`
`0 lUnknown
`
`DRIVER
`
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`
`
`
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`CSimpIeStream
`
`2
`
`
`
`Page 62 of 107
`Page 62 of 107
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`

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`U.S. Patent
`
`Jan. 28, 2003
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`Sheet 60 of 68
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`US 6,513,058 B2
`
`FIG. 62
`
`0 |Unknown
`
`DRIVER
`
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`I OO
`
`CSimpIeStream
`
`
`Page 63 of 107
`Page 63 of 107
`
`' r
`
`

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`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 61 of 68
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`US 6,513,058 B2
`
`
`
`FIG. 63
`
`0 lUnknown
`
`DRIVER
`
`ADMIN.
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`
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`0 O O
`
`.1-
`
`IXMC_xxxU[7SP| .
`
`Page 64 of 107
`Page 64 of 107
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`

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`U.S. Patent
`
`Jan. 28, 2003
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`Sheet 62 of 68
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`US 6,513,058 B2
`
`FIG. 64
`
`0 lUnknown
`
`ICOM_xxx .
`lXMC_xxxAPl o COMPONENT
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`0 lUnknown
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`
`LANGUAGE
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`
`
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`IXMC_xxxUDSP| .
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`0 lUnknown
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`STREAM
`
`Page 65 of 107
`Page 65 of 107
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`

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`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 63 of 68
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`US 6,513,058 B2
`
`lUnknown
`
`MOTION
`|COM_xxx
`
`COMPONENT
`IXMC_xxxAPI o
`
`
`
`F|G_
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`
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`---- .. . _‘_ ---- n. . . . , _ H n.. """ .. ' - - - . . ,_ ll- ' ' - - .. """ -. ..,_
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`
`rvExtDisp
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`CLanDrvExtDisp' Lang oreExtDisp
`
`
`I oreExtDisp
`
`
`
`
`
`Page 66 of 107
`Page 66 of 107
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`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 64 of 68
`
`US 6,513,058 B2
`
`FIG. 66
`
`CDriverO bject
`
`
`
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`
`
`
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`
`
`
`Standard OLE 2.0 Interfac
`
`Standard OLE 2.0 Interface
`
`COM Interfaces
`
`------------------- --
`
`
`
`|COM_Base2 g
`
`Initiaiize, Unlnitialize,
`
`ICOM_Persist2
`
`Get|D, GetModuIeType,
`
`ICOM_
`PersistRegDB
`
`
`
`Load, Save, Clear,
`
`|sDirty
`
`Language Driver Interfaces ------- --
`
`ILNG_
`.
`
`DrvCore_Init
`
`Create, Destroy, Setup, Stat,
`
`”—NG_D"VEXt_
`StreamMgmt
`
`AddStream, Removestream,
`
`SPI Core Interfaces ------------------ '-
`
`SEE FIGURE 21
`
`SPI Extended Interfaces """"""" "
`
`SEE FIGURE 21
`
`Page 67 of 107
`Page 67 of 107
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`

`
`tH64|.aP&U
`
`Jan. 28, 2003
`
`Sheet 65 of 68
`
`US 6,513,058 B2
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`Page 68 of 107
`Page 68 of 107
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`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 66 of 68
`
`US 6,513,058 B2
`
`General Communication Map
`
`62
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`
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`
`Page 69 of 107
`Page 69 of 107
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`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 67 of 68
`
`US 6,513,058 B2
`
`FIG; 70 AT6400-AUX1 Communication Map
`
`62
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`6b
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`
`Page 70 of 107
`Page 70 of 107
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`

`
`U.S. Patent
`
`Jan. 28, 2003
`
`Sheet 68 of 68
`
`US 6,513,058 B2
`
`DMC1700 Communication Map
`
`61
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`Page 71 of 107
`Page 71 of 107
`
`§ 1
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`

`
`US 6,513,058 B2
`
`1
`DISTRIBUTION OF MOTION CONTROL
`COMMANDS OVER A NETWORK
`
`RELATED APPLICATIONS
`
`This application is a continuation of U.S. patent applica-
`tion Ser. No. 09/205,627 filed Dec. 3, 1998 now U.S. Pat.
`No. 6,209,037, which claims priority of U.S. Provisional
`Application Serial No. 60/067,466 filed Dec. 4, 1997, and is
`a contin11ation-in-part of US. application Ser. No. 09/191,
`981 filed Nov. 13, 1998, which is a continuation of U.S.
`application Ser. No. 08/656,421 filed May 30, 1996, now
`U.S. Pat. No. 5,867,385, which is a continuation-in-part of
`U.S. application Ser. No. 08/454,736 filed May 30, 1995,
`now U.S. Pat. No. 5,691,897.
`
`10
`
`15
`
`TECHNICAL FIEID
`
`The present invention relates to motion control systems
`and, more particularly, to interface software that facilitates
`the creation of hardware independent motion control soft-
`ware.
`
`BACKGROUND OF THE INVENTION
`
`The purpose of a motion control device is to move an
`object in a desired manner. The basic components of a
`motion control device are a controller and a mechanical
`system. The mechanical system translates signals generated
`by the controller into movement of an object.
`While the mechanical system commonly comprises a
`drive and an electrical motor, a number of other systems,
`such as hydraulic or vibrational systems, can be used to
`cause movement of an object based on a control signal.
`Additionally, it is possible for a motion control device to
`comprise a plurality of drives and motors to allow multi-axis
`control of the movement of the object.
`The present invention is of particular importance in the
`context of a mechanical system including at least one drive
`and electrical motor having a rotating shaft connected in
`some way to the object to be moved, and that application
`will be described in detail herein. But the principles of the
`present invention are generally applicable to any mechanical
`system that generates movement based on a control signal.
`The scope of the present invention should thus be deter-
`mined based on the claims appended hereto and not the
`following detailed description.
`In a mechanical system comprising a controller, a drive,
`and an electrical motor, the motor is physically connected to
`the object to be moved such that rotation of the motor shaft
`is translated into movement of the object. The drive is an
`electronic power amplifier adapted to provide power to a
`motor to rotate the motor shaft in a controlled manner. Based
`on control commands, the controller controls the drive in a
`predictable manner such that the object is moved in the
`desired manner.
`
`These basic components are normally placed into a larger
`system to accomplish a specific task. For example, o