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| | *Delay caused by buffering (0.1-1.0 sec buffering is recommended to avoid buffer underruns and stopping of motion) | | *Delay caused by buffering (0.1-1.0 sec buffering is recommended to avoid buffer underruns and stopping 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) |
| | + | *Some added complexity in programming |
| | || No || Yes | | || No || Yes |
| | |- | | |- |
Revision as of 14:20, 30 November 2015
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
|
| 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 Setpoint smoothingCIS 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)
- Update rate will reduce as more axes are added to the system (due to bus bandwidth limit)
- Some added complexity in programming
|
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 Setpoint smoothingCIS smoothens 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.
- 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
|
