View source for AXY:Element Synchronization/Design

= Element Synchronization Design =

Common algorithms to both '''SyncStart''' and '''SyncAll''':


<center>
<gallery widths= 400px heights= 450px>
Image:AXY;SyncStartMotionObject.jpg|''SyncStart Object model''
Image:AXY;SyncStartClassModel.jpg|''SyncStart Class model''
</gallery>
</center>

==Pre-Calculation==

Is done in MotionManager task, initiated by message sent from SyncStart/All commands:

In case of SyncStart we sperately execute MotCalc on every element from the '''sync-list''': (el<sub>1</sub> , el<sub>2</sub> , el<sub>3</sub> , ... el<sub>n</sub> ):

<pre>
FOR element FROM sync-list
   element->MotCalc()
NEXT
</pre>

In case of SyncAll it is little bit more complicated, every element is pre-calculated in order to estimate it's own max profile values:

<pre>
FOR element FROM sync-list
element->MotCalc() ==> Li , Vi , Ai , Di , Jai ,  Jdi
NEXT
</pre>
And then generate a master profile with the following parameters:

=== Master Profile ===

The master profile data-structure will be copied to the profile-data-structure of all other elements. Master profile:

<math>L</math> , <math>min(V_i \cdot \frac{L_i} {L})</math> , <math>min(A_i \cdot \frac{L_i} {L})</math> , <math>min(D_i \cdot \frac{L_i} {L})</math> , <math>min(Ja_i \cdot \frac{L_i} {L})</math> , <math>min(Jd_i \cdot \frac{L_i} {L})</math>


where <math>L = \sqrt{\sum L_i ^2}</math>

The master profile data-structure will be copied to the profile-data-structure of all other elements.

The complete system of the sync-list motion profiles will be executed together just be scaling each of them by the factor of: <math>\frac{L_i}{\sqrt{\sum L_i ^2}}</math>

<math>TShort = min(TShort _i)</math><br/>

<math>TAccMin = max(TAccMin_i)</math><br/>

<math>TDecMin  = max(TDecMin_i)</math>

{{Note| The global profile type is defined according to the longest (in time) movement}}

{{Note| Stopping profile continues the global profile. So in case of Proceed command this profile will be used.}}

{{Note/Caution| What happens if profiler changes it's type?}}

{{Note/Caution| What happens in case of extremely short motions?}}

<center>
<gallery widths= 400px heights= 300px>
Image:AXY;MasterProfiler.png|''Master profiler''
Image:AXY;MasterProfilerAcceleration.png|''Master profiler accleration''
</gallery>
</center>



<gallery widths= 700px heights= 600px>
Image:AXY;SyncAllPreclaculation.jpg|'' Sync All pre-calculation algorithm ""
Image:AXY;SyncListProfiles.png|''Sync List profiles''
</gallery>