AXY:Element Synchronization/Design

Element Synchronization Design

Common algorithms to both SyncStart and SyncAll:

• 

  SyncStart Object model

• 

  SyncStart Class model

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:

FOR element FROM sync-list
   element->MotCalc()
NEXT

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:

FOR element FROM sync-list
element->MotCalc() ==> L_i , V_i , A_i , D_i , Ja_i , Jd_i
NEXT

And then generate a master profile with the following parameters:

${\frac {L_{i}}{\sqrt {\sum L_{i}^{2}}}}$ , ${\frac {L_{i}}{\sqrt {\sum V_{i}^{2}}}}$ , ${\frac {A_{i}}{\sqrt {\sum A_{i}^{2}}}}$ , ${\frac {D_{i}}{\sqrt {\sum D_{i}^{2}}}}$ , ${\frac {Ja_{i}}{\sqrt {\sum Ja_{i}^{2}}}}$ , ${\frac {Jd_{i}}{\sqrt {\sum Jd_{i}^{2}}}}$

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:${\frac {L_{i}}{\sqrt {\sum L_{i}^{2}}}}$

Master profile:

L,

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: