My final goal is to control a 3 axis system using a crio 9074 and EtherCAT AKD drives.
At the moment I'm only simulating my code to find the best structure.
In my project I have a coordinate system with 3 axis and I'm using a state machine to control my line moves. The individual points and their parameters (vellocity, acceleration, jerk) are stored in a RT-FIFO.
I would like the transition from one move to another to be as fast as possible.
As I need to set values for velocity and acceleration I've decided against using a contoured move and am using the blend at deceleration function.
But I haven't quite understood how to achieve "flow control"".
Form my testing I've determined that if I send more then on straight line command while a move is in progress I get an error.
To circumvent that I've added an idle state in my state machine which checks if the current move is completed and then goes to get an new position point from the FIFO and then starts a new straight line move. But with this solution, I fear, that I will add an unwanted delay between moves.
Thanks for the help.
Daniel