Difference between revisions of "SimpleMotion motion control strategies"
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| − | ! Strategy !! Implementation !! Features !! Cons !! Need real-time host !! Synchronized multi-axis motion | + | ! Strategy !! Implementation !! Features !! Cons !! Need real-time host !! Synchronized multi-axis motion !! Example implementation & documentation |
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| Parameter communication || | | Parameter communication || | ||
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*No multi-axis synchronization, all axes operate in point-to-point mode individually | *No multi-axis synchronization, all axes operate in point-to-point mode individually | ||
| − | || No || No | + | || No || No || [https://github.com/GraniteDevices/SimpleMotionV2Examples PointToPointExample] |
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| − | | Buffered motion | + | | Buffered motion stream || |
| − | List of | + | List of trajectory coordinate points are uploaded to drive command buffers and executed by drives based on clock |
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*Allow synchronizing multiple axes and running arbitrary motion paths | *Allow synchronizing multiple axes and running arbitrary motion paths | ||
*Motion acceleration and velocity profiles are generated by user application | *Motion acceleration and velocity profiles are generated by user application | ||
| − | * | + | *Unlimited trajectory duration |
*Typical setpoint update rates are 250 Hz to 1000 Hz for 1 to 4 axis systems | *Typical setpoint update rates are 250 Hz to 1000 Hz for 1 to 4 axis systems | ||
| − | |||
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| − | *Delay caused by buffering (0. | + | *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) | *Update rate will reduce as more axes are added to the system (due to bus bandwidth limit) | ||
| − | || No || Yes | + | *Some added complexity in programming |
| + | || No || Yes|| | ||
| + | * Example project:[https://github.com/GraniteDevices/SimpleMotionV2Examples BufferedMotionStreamExample] | ||
| + | * [[Buffered motion stream in SimpleMotion V2]] | ||
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| Real-time motion commands || | | Real-time motion commands || | ||
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*Allow synchronizing multiple axes and running arbitrary motion paths | *Allow synchronizing multiple axes and running arbitrary motion paths | ||
*Motion acceleration and velocity profiles are generated by user application | *Motion acceleration and velocity profiles are generated by user application | ||
| − | *Use of {{param|CIS}} | + | *Use of {{param|CIS}} smooths any motion above 250 Hz to silky smooth |
*There is virtually no delay between command and action | *There is virtually no delay between command and action | ||
*Higher scalability, can use multiple SimpleMotion buses to support large number of axis | *Higher scalability, can use multiple SimpleMotion buses to support large number of axis | ||
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*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 | *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 | + | *For smooth interrupted motion, need hard real-time host, such as RTLinux, [[PLC]] or micro controller platform. |
| − | *USB | + | *[[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 | + | || Yes || Yes || [https://github.com/GraniteDevices/SimpleMotionV2Examples/tree/develop RealtimeControlExample] |
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Latest revision as of 11:29, 4 October 2018
SimpleMotion V2 allows building single and multi-axis motion control applications in three different strategies. The table below summarizes the options.
| Strategy | Implementation | Features | Cons | Need real-time host | Synchronized multi-axis motion | Example implementation & documentation |
|---|---|---|---|---|---|---|
| Parameter communication |
Send setpoint commands to a target drive with simple "write parameter" commands |
|
|
No | No | PointToPointExample |
| Buffered motion stream |
List of trajectory coordinate points are uploaded to drive command buffers and executed by drives based on clock |
|
|
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 |
|
|
Yes | Yes | RealtimeControlExample |
