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TOPIC: WriteSegmentTime query

WriteSegmentTime query 5 years 5 days ago #1472

  • kkong
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Trying the sample VBClient as provided after installing SMI software using ISMIPath-Circle feature.

How is the speed and acceleration controlled?

This 2 commands : PathInterface.TimeDelta and CMotionInterface.WriteSegmentTime
How are they related and what are their units?
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Re: WriteSegmentTime query 5 years 3 days ago #1474

  • csearcy
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ISIMIPath::TimeDelta is in terms of motor samples.
For a class 5 motor using PID2 (the default) using 128 for TimeDelta: 128 * .125usec = 16 msec

ISIMIPath::Acceleration is rate of change per point of the trajectory path.
If you are moving a X any Y axis both 10000. The length of the trajectory path is SQRT((X distance 10000 * 10000 ) + (Y distance 10000 * 10000 )) = 14142
The TimeDelta, Acceleration and MaxSpeed are all used to calculate the number of motor samples used for acceleration, deceleration and constant speed.

ISMICMotion::WriteSegmentTime This is for class 5 motors and is in terms of motor samples if you calculate the path then this should be the same as TimeDelta.
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