Editing SimpleMotion motion control strategies

[[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 !! Example implementation
|-
| 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 || [https://github.com/GraniteDevices/SimpleMotionV2Examples PointToPointExample]
|-
| Buffered motion stream || 
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
*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 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
|| No || Yes|| [https://github.com/GraniteDevices/SimpleMotionV2Examples BufferedMotionStreamExample]
|-
| 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}} 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 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 || [https://github.com/GraniteDevices/SimpleMotionV2Examples/tree/develop RealtimeControlExample]
|}