AXY:Element Synchronization/Design
Element Synchronization Design
Common algorithms to both SyncStart and SyncAll:
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 its 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:
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 its type? |
CAUTION | |
What happens in case of extremely short motions? |