Multi-Axis Velocity
What is Multi-Axis Motion?
Multi-Axis Velocity Motion refers to a multi-axis velocity move that can be updated on the fly. This means that when a new velocity is commanded, all axes will update their velocities synchronously.
When to Use Multi-Axis Motion?
When it is necessary to update velocity, synchronously, and on the fly on multiple axes.
Multi-Axis Motion Test
In this picture, you can observe a Multi-Axis object updating its velocity 5 separate times every second. All 6 axes updated their velocity synchronously and on the fly. This means that every 1 second, the velocity of all 6 axes were updated and their update rate was tightly synchronized (happening at the same time).
In this picture, you can observe 6 axes Multi-Axis object being updated with different velocities every 100ms.
In this picture, you can observe how all 6 axes were updated every 100ms with random velocities, and every velocity update was happening at the same time (The vertical white lines display when a move is being updated).
Why did we Test?
It was important to see how fast we could update velocities on a Multi-Axis object and how synchronized these velocity moves would be.
Therefore, we ran a test that would update a Multi-Axis velocity 100,000 times. We found that every velocity update was happening at approximately 2ms.
Conclusion
A Multi-Axis object velocity can be updated every ~2ms.
A Multi-Axis can change all its axes' velocities on the fly in a tightly synchronized manner
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