Difference between revisions of "AXY:Element Synchronization/Design"
(→Pre-Calculation) |
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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: | 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 | + | FOR element FROM sync-list |
| − | element->MotCalc() ==> | + | element->MotCalc() ==> Li , Vi , Ai , Di , Jai , Jdi |
| − | NEXT< | + | NEXT |
| − | + | </pre> | |
And then generate a master profile with the following parameters: | And then generate a master profile with the following parameters: | ||
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<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> | <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> | ||
| + | |||
| + | 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 master profile data-structure will be copied to the profile-data-structure of all other elements. | ||
Revision as of 08:26, 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:
, , , , ,
where
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:
