AXY:Element Synchronization/Design

Element Synchronization Design

Common algorithms to both SyncStart and SyncAll:

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  SyncStart Object model

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  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: (el₁ , el₂ , el₃ , ... el_n ):

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() ==> Li , Vi , Ai , Di , Jai ,  Jdi
NEXT

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:

$L$ , $min(V_{i}\cdot {\frac {L}{L_{i}}})$ , $min(A_{i}\cdot {\frac {L}{L_{i}}})$ , $min(D_{i}\cdot {\frac {L}{L_{i}}})$ , $min(Ja_{i}\cdot {\frac {L}{L_{i}}})$ , $min(Jd_{i}\cdot {\frac {L}{L_{i}}})$

where $L={\sqrt {\sum L_{i}^{2}}}$

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

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  Master profiler

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  Master profiler accleration

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  Sync All pre-calculation algorithm ""

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  Sync List profiles