SimpleMotion motion control strategies - Revision history

Tero K at 11:29, 4 October 2018

2018-10-04T11:29:20Z

Tero K at 13:41, 5 October 2016

2016-10-05T13:41:54Z

Tero K at 12:08, 11 February 2016

2016-02-11T12:08:47Z

Tero K at 12:03, 11 February 2016

2016-02-11T12:03:06Z

Tero K at 14:20, 30 November 2015

2015-11-30T14:20:42Z

Tero K at 14:19, 30 November 2015

2015-11-30T14:19:53Z

Tero K at 14:18, 30 November 2015

2015-11-30T14:18:10Z

Tero K at 13:39, 30 November 2015

2015-11-30T13:39:27Z

Tero K: Created page with "SimpleMotion V2 allows building single and multi-axis motion control applications in three different strategies. The table below summarizes the options. {| class="wikitabl..."

2015-11-30T13:22:04Z

Created page with "SimpleMotion V2 allows building single and multi-axis motion control applications in three different strategies. The table below summarizes the options. {| class="wikitabl..."

New page

[[SimpleMotion V2]] allows building single and multi-axis motion control applications in three different strategies. The table below summarizes the options.
{| class="wikitable"
|-
! Strategy !! Implementation !! Features !! Cons !! Need real-time host !! Synchronized multi-axis motion
|-
| Parameter communication ||
Send setpoint commands to a target drive with simple "write parameter" commands
||
*The easiest way to do point-to-point motion control
*Motion acceleration and velocity trajectories are produced by drive and can be set before motion is started
*Can modify any drive parameter on the fly
*Can be used together with other [[setpoint]] sources
||
*No multi-axis synchronization, all axes operate in point-to-point mode individually
|| No || No
|-
| Buffered motion commands ||
List of positions are uploaded to drive command buffers and executed by drives based on clock
||
*Allow synchronizing multiple axes and running arbitrary motion paths
*Motion acceleration and velocity profiles are generated by user application
*Drives syncronize clocks so motion stays in sync infinitely
*Typical setpoint update rates are 250 Hz to 1000 Hz for 1 to 4 axis systems
*Use of {{param|CIS}} smoothens any motion above 250 Hz to silky smooth
||
*Delay caused by buffering (0.1-1.0 sec buffering is recommended to avoid buffer underruns and stopping of motion)
*Can be complex to program
*Update rate will reduce as more axes are added to the system (due to bus bandwidth limit)
|| No || Yes
|-
| Real-time motion commands ||
Position commands are sent to drives just like in parameter communication strategy, except in high update rate and from real-time host
||
*Allow synchronizing multiple axes and running arbitrary motion paths
*Motion acceleration and velocity profiles are generated by user application
*Use of {{param|CIS}} smoothens any motion above 250 Hz to silky smooth
*There is virtually no delay between command and action
||
*Update rate will reduce as more axes are added to the system (due to bus bandwidth limit)
*For smooth unterrupted motion, need hard real-time host, such as RTLinux, [[PLC]] or microcontroller platform.
*USB RS458 converter may add uncertainty to timing, so use of other adapter may be necessary.
|| Yes || Yes
|}

[[Category:Application]]
[[Category:Development]]
[[Category:SimpleMotion]]

[[Category:Application]]
[[Category:Development]]
[[Category:SimpleMotion]]

@@ Line 42: / Line 42: @@
 *For smooth interrupted motion, need hard real-time host, such as RTLinux, [[PLC]] or micro controller platform.
 *[[SimpleMotion V2 USB adapter]] may add uncertainty to timing, so use of other adapter may be necessary (PCI, PCI-E, PLC port or other peripheral, such as microcontroller USART).
-|| Yes || Yes || Coming to GitHub
+|| Yes || Yes || [https://github.com/GraniteDevices/SimpleMotionV2Examples/tree/develop RealtimeControlExample]
 |}

@@ Line 2: / Line 2: @@
 {| class="wikitable"
 |-
-! Strategy !! Implementation !! Features !! Cons !! Need real-time host !! Synchronized multi-axis motion !! Example implementation
+! Strategy !! Implementation !! Features !! Cons !! Need real-time host !! Synchronized multi-axis motion !! Example implementation & documentation
 |-
 | Parameter communication ||
@@ Line 26: / Line 26: @@
 *Update rate will reduce as more axes are added to the system (due to bus bandwidth limit)
 *Some added complexity in programming
-|| No || Yes|| [https://github.com/GraniteDevices/SimpleMotionV2Examples BufferedMotionStreamExample]
+|| No || Yes||
 |-
 | Real-time motion commands ||

@@ Line 15: / Line 15: @@
 || No || No || [https://github.com/GraniteDevices/SimpleMotionV2Examples PointToPointExample]
 |-
-| Buffered motion commands ||
+| Buffered motion stream ||
-List of positions are uploaded to drive command buffers and executed by drives based on clock
+List of trajectory coordinate points are uploaded to drive command buffers and executed by drives based on clock
 ||
 *Allow synchronizing multiple axes and running arbitrary motion paths
 *Motion acceleration and velocity profiles are generated by user application
-*Drives syncronize clocks so motion stays in sync infinitely
+*Unlimited trajectory duration
 *Typical setpoint update rates are 250 Hz to 1000 Hz for 1 to 4 axis systems
 ||
-*Delay caused by buffering (0.2-1.0 sec buffering is recommended to avoid buffer underruns and stopping of motion)
+*Delay caused by buffering (0.2-1.0 sec buffering is recommended to avoid buffer underruns and breaks of motion)
 *Update rate will reduce as more axes are added to the system (due to bus bandwidth limit)
 *Some added complexity in programming
@@ Line 34: / Line 33: @@
 *Allow synchronizing multiple axes and running arbitrary motion paths
 *Motion acceleration and velocity profiles are generated by user application
-*Use of {{param|CIS}} smoothens any motion above 250 Hz to silky smooth
+*Use of {{param|CIS}} smooths any motion above 250 Hz to silky smooth
 *There is virtually no delay between command and action
 *Higher scalability, can use multiple SimpleMotion buses to support large number of axis
 ||
 *Update rate will reduce as more axes are added to the system (due to bus bandwidth limit), however, see the scalability feature in Features column
-*For smooth unterrupted motion, need hard real-time host, such as RTLinux, [[PLC]] or microcontroller platform.
+*For smooth interrupted motion, need hard real-time host, such as RTLinux, [[PLC]] or micro controller platform.
 *[[SimpleMotion V2 USB adapter]] may add uncertainty to timing, so use of other adapter may be necessary (PCI, PCI-E, PLC port or other peripheral, such as microcontroller USART).
 || Yes || Yes || Coming to GitHub