Difference between revisions of "AXY:Element Synchronization/Design"

From SoftMC-Wiki
Jump to: navigation, search
(→‎Pre-Calculation)
Line 32: Line 32:
 
And then generate a master profile with the following parameters:
 
And then generate a master profile with the following parameters:
  
−
 
−
<math>\frac{L_i}{\sqrt{\sum L_i ^2}}</math> , <math>\frac{L_i}{\sqrt{\sum V_i ^2}}</math> ,  <math>\frac{A_i}{\sqrt{\sum A_i ^2}}</math> , <math>\frac{D_i}{\sqrt{\sum D_i ^2}}</math> , <math>\frac{Ja_i}{\sqrt{\sum Ja_i ^2}}</math> , <math>\frac{Jd_i}{\sqrt{\sum Jd_i ^2}}</math>
 
  
  
Line 39: Line 37:
  
  
−
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>
+
Master profile:
  
−
Master profile:
+
<math>L</math> , <math>min(V_i \cdot \frac{L} {L_i})</math> , <math>min(A_i \cdot \frac{L} {L_i})</math> , <math>min(D_i \cdot \frac{L} {L_i})</math> , <math>min(Ja_i \cdot \frac{L} {L_i})</math> , <math>min(Jd_i \cdot \frac{L} {L_i})</math>
  
−
L,
 
  
 
The master profile data-structure will be copied to the profile-data-structure of all other elements.
 
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:
+
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>

Revision as of 08:24, 31 January 2012

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

And then generate a master profile with the following parameters:


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


Master profile:

, , , , ,


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:

Retrieved from "http://softmc.servotronix.com/index.php?title=AXY:Element_Synchronization/Design&oldid=99658"