Difference between revisions of "AXY:Element Synchronization/Design"
(→Pre-Calculation) |
(→Pre-Calculation) |
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And then generate a master profile with the following parameters: | 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: | |
| − | 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} {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> | ||
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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:<math>\frac{L_i}{\sqrt{\sum L_i ^2}}</math> | 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 08:43, 6 February 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: (el1 , el2 , el3 , ... eln ):
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:
, , , , ,
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:
Master profiler
Master profiler accleration
