However, I would speculate that the velocity setpoint may be forced to zero and the profile may terminate on a looser condition. I’ll report back later with the magic formula. ![]() Sounds like a good problem to give to my son tonight. The slope on each side of the trapezoid is determined by the max acceleration value and the height of the horizontal flat section is determined by max velocity value.Īdd the two triangle together from each end into a rectangle, add this rectangle to the rectangle in the middle and this total area needs to equal the distance to cover and hey presto you can work out how long the motion magic move will take to complete. Working backwards with a bit of simple maths should be able to give you the exact time taken for a MM move to finish if you know all of the parameters.Īt least for the simple case where the arm/mechanism is at rest when you initiate the motion magic move and assuming the generator algorithm used by Talons internal firmware generates a perfect trapezoid. ie the Integral of speed curve equals distance. Going back to high school physics this will be when the area under the speed curve is equal to the distance needed to be covered (ie difference between encoder reading at the time motion magic was started, to the set point that was called in the motion magic go to position call). Eventually the goal post stops moving and at the same point in time the feed forward velocity will be zero also, because this is the last point in the profile. What we have to remember is that it is always effectively in “PID position mode” the entire time, its just that the goal post is constantly being changed every 10ms. That is, stay at the maximum allowed speed for as long as possible (flat part of the curve) and then start to slow down towards zero speed at a rate that doesn’t exceed the max de-acceleration rate as you approach the final set point (Back side of the curve). The generator is trying to create MP points that get you to the target as quickly as its allowed to do. ![]() You can find out how to avoid them below.It seems from what we have gathered, that if the active trajectory velocity is zero (when exactly does this happen?)īasically I think this is going to happen at the end of the back side of the trapezoidal profile speed curve. ![]() These cookies and other technologies capture data like your IP address, when you viewed the page or email, what device you were using and where you were. We use various advertising partners, including Amazon, Facebook, and Google. These cookies are used to track your activity on the BenQ website and other websites across the Internet, help measure the effectiveness of our advertising campaign and deliver advertisements that are more relevant to you and your interests. See list of performance and advertising cookies To opt-out of Hotjar collecting data, you can disable tracking completely by following link:. ![]() To opt-out of SessionCam collecting data, you can disable tracking completely by following link:. To opt out of certain ads provided by Google you can use any of the methods set forth here or using the Google Analytics opt out browser add-on here. You can control the information provided to Google, SessionCam and Hotjar. If you want to opt-out of advertising cookies, you have to turn-off performance cookies. We also use Google Analytics, SessionCam and Hotjar to track activity and performance on the BenQ website. These cookies help to improve the performance of BenQ. Performance cookies and advertising cookies
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