Editing 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 |
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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 |
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− | | Buffered motion | + | | Buffered motion commands || |
− | List of | + | List of positions 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 | ||
− | * | + | *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 | *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 | ||
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− | *Delay caused by buffering (0. | + | *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) | *Update rate will reduce as more axes are added to the system (due to bus bandwidth limit) | ||
− | + | || No || Yes | |
− | || No || Yes | + | |
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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}} smoothens 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 | ||
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− | *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) |
− | *For smooth | + | *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 | + | || Yes || Yes |
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