Controlled deceleration of moveable components in a computer numerically controlled machine

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:
• executing, on a computer-numerically-controlled machine, a motion plan defining operations for causing movement of a moveable component of the computer-numerically-controlled machine;
• detecting, at a first point in the motion plan while the moveable component is at a first location and is operating at a rate of movement defined by the motion plan, a first event that requires interruption of execution of the motion plan;
• first decelerating motion of movement of the moveable component in a forward direction after detecting the first event, the first decelerating comprising continuing to execute operations of the motion plan in a forward order, wherein the continuing to execute operations occurs at a first reducing rate until the moveable component comes to a first halt at a second point in the motion plan;
• first accelerating motion of the moveable component in a reverse direction after detection of a second event, the first accelerating comprising executing operations of the motion plan in a reverse order at a first increasing rate starting at the second point in the motion plan at which the moveable component came to the first halt;
• second decelerating motion of the moveable component in the reverse direction, the second decelerating comprising continuing to execute operations of the motion plan in the reverse order at a second reducing rate until the moveable component comes to a second halt at a third point in the motion plan that is earlier in the motion plan than the first point at which the first event was detected;
• and
• second accelerating motion of the moveable component in the forward direction, the second accelerating comprising executing operations of the motion plan in the forward order at a second increasing rate starting at the third point in the motion plan at which the moveable component came to the second halt, the second accelerating resulting in the moveable component moving at the rate of movement defined by the motion plan at the first point when the moveable component reaches the first location.

A computer program product comprising instructions, which when executed by at least one data processor, cause operations comprising:

• executing, on a computer-numerically-controlled machine, a motion plan defining operations for causing movement of a moveable component of the computer-numerically-controlled machine;
• detecting, at a first point in the motion plan while the moveable component is at a first location and is operating at a rate of movement defined by the motion plan, a first event that requires interruption of execution of the motion plan;
• first decelerating motion of movement of the moveable component in a forward direction after detecting the first event, the first decelerating comprising continuing to execute operations of the motion plan in a forward order, wherein the continuing to execute operations occurs at a first reducing rate until the moveable component comes to a first halt at a second point in the motion plan;
• first accelerating motion of the moveable component in a reverse direction after detection of a second event, the first accelerating comprising executing operations of the motion plan in a reverse order at a first increasing rate starting at the second point in the motion plan at which the moveable component came to the first halt;
• second decelerating motion of the moveable component in the reverse direction, the second decelerating comprising continuing to execute operations of the motion plan in the reverse order at a second reducing rate until the moveable component comes to a second halt at a third point in the motion plan that is earlier in the motion plan than the first point at which the first event was detected;
• and
• second accelerating motion of the moveable component in the forward direction, the second accelerating comprising executing operations of the motion plan in the forward order at a second increasing rate starting at the third point in the motion plan at which the moveable component came to the second halt, the second accelerating resulting in the moveable component moving at the rate of movement defined by the motion plan at the first point when the moveable component reaches the first location.