Patent ID: 8082515

Claim:
A non-transitory computer-readable memory medium comprising program instructions executable to implement: a motion manager component of a motion controller, wherein the motion manager component implements a supervisory control function and at least one trajectory generation algorithm; a first application programming interface (API) for interfacing a motion control application developed by an end user to the motion manager component; and a second application programming interface for interfacing the motion manager component to a communication interface component developed by the end user, wherein the communication interface component is executable to communicate with a motion element, wherein the second API for interfacing to the communication interface component comprises one or more graphical program nodes, wherein each of the one or more graphical program nodes is configured to be included in a graphical program, and wherein each of the one or more graphical program nodes is executable to interface to the motion manager component; wherein, during operation, the motion control application communicates with the motion manager component via the first API, the motion manager component communicates with the communication interface component via the second API, and the communication interface component communicates with the motion element.