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: (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:

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

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

$TShort=min(TShort_{i})$

$TAccMin=max(TAccMin_{i})$

$TDecMin=max(TDecMin_{i})$

	NOTE
	The global profile type is defined according to the longest (in time) movement

	NOTE
	Stopping profile continues the global profile. So in case of Proceed command this profile will be used.

	CAUTION
	What happens if profiler changes it's type?

	CAUTION
	What happens in case of extremely short motions?

• 

  Master profiler

• 

  Master profiler accleration

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  Sync All pre-calculation algorithm ""

• 

  Sync List profiles