DynamicAxisControl 1.0.1

Linear trajectory generator for robotic axes, with the ability to synchronize up to two speed profiles

Dynamic Axis Control

Linear trajectory generator for robotic axes, with the ability to synchronize up to two speed profiles, to maximize performance. Also perfect for calculating the trajectories of the CoreXY Axes.

Table of content

• Description and scope
  • Installing
  • Documentation
  • Specification
  • Contributing
  • License

Installing

Installing with pip command

Documentation

Requirements:

asked to set a specific unit of measurement e.g.: (°, rad, metres, millimetres). The module requires the following dependencies:

• matplotlib
• random
• numpy
• time

The tested python systems are

Specification:

Description of The Function of Sync core X and Y axes: Here is a simple flow chart:

graph TD;
    A(Convert mm to revolution)-->B;
    B(Check the axis with the longest travel)-->C;
    C(Recalculate the axis with the shortest travel)-->D;
    D(Sync Speed and Acc/Dec);

The linear Axes Function use the same algorithmic without the convert from unit to revolution unit motor.

Functions:

---

ProfileGenerator:

generator = ProfileGenerator(2.0, 0.5, 2.0, 0.5, 38, 1000)

VARIABLE	DESCRIPTION	TYPE
M1_Acc_Dec	Acceleration and deceleration of the first motor/Axis	FLOAT
M1_MaxSpeed	Maximum speed of the first motor/Axis	FLOAT
M2_Acc_Dec	Acceleration and deceleration of the second motor/Axis	FLOAT
M2_MaxSpeed	Maximum speed of the second motor/Axis	FLOAT
mm_per_revolution	M1 Kinematic position values {Trajectory Profile}	FLOAT
percentage_constant_speed	time in percentage of the time the constant speed of the axis remains	FLOAT
FactorGroup	Scale Factor to set in the driver motor	INT
modetype	"NOT USED" axis mode	STRING
acc_min	Minimum acceleration and deceleration of the first motor/Axis	FLOAT
vel_min	Minimum speed of the first motor/Axis	FLOAT
acc_max	Maximum acceleration and deceleration of the second motor/Axis	FLOAT
vel_max	Maximun speed of the second motor/Axis	FLOAT
FactorGroup	Conversion factor for sending the motor driver parameters	FLOAT

SyncCoreXYAxis

The function synchronizes the speed of two motors to move a Core XY type Cartesian axis. The algorithm synchronizes the trajectories of two motors to determine their acceleration and deceleration times. The trajectories will so be executed diagonally. Synchronization necessitates slowing down the shortest axis to end at the same time as the first.

INPUT:

VARIABLE	DESCRIPTION	TYPE
Xstart	Value Axis to start Trajectory X Axis	FLOAT
Ystart	Value Axis to start Trajectory Y Axis	FLOAT
X	X Axis Position Value End Trajectory (Absolute Movement)	FLOAT
Y	Y Axis Position Value End Trajectory (Absolute Movement)	FLOAT
GRAPH	Show Trajectory	BOOL

OUTPUT:

VARIABLE	DESCRIPTION	TYPE
Rev_MaxSpeedXAxis	Max Speed M1 Motor value {round at .00}	FLOAT
Rev_AccAxisX	Max Acceleration and Deceleration M1 Motor value {round at .00}	FLOAT
Rev_MaxSpeedYAxis	Max Speed M2 Motor value {round at .00}	FLOAT
Rev_AccAxisY	Max Acceleration and Deceleration M2 Motor value {round at .00}	FLOAT
PositionXAxis	M1 Kinematic position values {Trajectory Profile}	ARRAY
PositionYAxis	M2 Kinematic position values {Trajectory Profile}	ARRAY
TimeX	M1 Kinematic Time values {Time Profile}	ARRAY
TimeY	M2 Kinematic Time values {Time Profile}	ARRAY
M1_revToSend	M1 Value Position to send {Absolute Movement with Factor Group scale}	INT
M2_revToSend	M2 Value Position to send {Absolute Movement with Factor Group scale}	INT
M1_Block	Enable or Disable Motor 1 Movement	BOOL
M2_Block	Enable or Disable Motor 2 Movement	BOOL

Example

VelX,AccX,VelY,AccY,TjX,TjY,TmX, TmY, M1_position,M2_position, M1Block,M2Block = generator.SyncCoreXYAxis( XSim[i-1],
                          YSim[i-1],
                          XSim[i], 
                          YSim[i], 
                          Graph=True)

SyncLinearAxes

The function synchronizes the speed of two motors to move a two axes type Cartesian. The algorithm synchronizes the trajectories of two motors to determine their acceleration and deceleration times. The trajectories will so be executed diagonally. Synchronization necessitates slowing down the shortest axis to end at the same time as the first.

INPUT:

VARIABLE	DESCRIPTION	TYPE
Xstart	Value Axis to start Trajectory X Axis	FLOAT
Ystart	Value Axis to start Trajectory Y Axis	FLOAT
X	X Axis Position Value End Trajectory (Absolute Movement)	FLOAT
Y	Y Axis Position Value End Trajectory (Absolute Movement)	FLOAT
GRAPH	Show Trajectory	BOOL

OUTPUT:

VARIABLE	DESCRIPTION	TYPE
Rev_MaxSpeedXAxis	Max Speed M1 Motor value {round at .00}	FLOAT
Rev_AccAxisX	Max Acceleration and Deceleration M1 Motor value {round at .00}	FLOAT
Rev_MaxSpeedYAxis	Max Speed M2 Motor value {round at .00}	FLOAT
Rev_AccAxisY	Max Acceleration and Deceleration M2 Motor value {round at .00}	FLOAT
PositionXAxis	M1 Kinematic position values {Trajectory Profile}	ARRAY
PositionYAxis	M2 Kinematic position values {Trajectory Profile}	ARRAY
TimeX	M1 Kinematic Time values {Time Profile}	ARRAY
TimeY	M2 Kinematic Time values {Time Profile}	ARRAY

Example

VelX, AccX, VelY, AccY, TjX, TjY, TmX, TmY = generator.SyncLinearAxes( XSim[i - 1], YSim[i - 1], XSim[i], YSim[i], Graph=True)

RealTimeAnimation

This function used for simulation trajectory.

INPUT:

VARIABLE	DESCRIPTION	TYPE
TjX	Trajectory X Axis	TUPLA
TjY	Trajectory Y Axis	TUPLA
TmX	Point Time Trajectory Axis X	TUPLA
TmY	Point Time Trajectory Axis Y	TUPLA
MaxStroke Chart	MaxStroke Chart	FLOAT
AxisType	Type of Axis Use	STRING

Example

generator.AxisSimulator2D(TjX, TjY, TmX, TmY, 100, AxisType="CoreXY")

Analysis

Features:

• Add some circular interpolation to get the simple G-Code command
• Export profile for the 3d Animation Studio

Bug:

Luckily no one yet :-)