Asycube - Asyril SA
Programming Guide
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5.4.10.1. Sequence
The parameter order for the command is as follows:
Number of parts on the platform; Nb Limit Parts for Vibration; Center of mass X; Center of mass Y;
SequenceID
The parameter order for the response is as follows:
Number of parts on the platform; Nb Limit Parts for Vibration;
Center of mass X, Center of mass Y; SequenceID; Duration of the sequence
The duration sent back indicates the duration of the sequence (communication time is not
included).
NOTE :
For the Asycube 50, 80 and 240, the duration answered can change depending of the
conditions when the vibration is requested.
- Due to hardware limitation, the vibration effectively starts 60ms after the command
has been received.
- If the amplifiers are in the switching OFF process (automatically 5s after the end of
the last vibration), the Asycube needs to wait the end of the switching OFF process
(max 150ms) before to be able to start a new vibration. Then the time answered to
the command will be: the time requested + the 60ms of switching ON amplifiers +
max 150ms of switching OFF process. The 150ms is the worst situation, because if
the request appears in the middle of the switching OFF process, the delay will be
only 75ms.This delay depends of the moment when the request appears during the
switching OFF process.
Example:
Command: {ES:(55;100;0.33;-0.33;1)}
Response: {ES:(55;100;0.33;-0.33;1;1560)}
In this example, the sequence will take 1.56 seconds.
NOTE :
- The ‘Sequence ID’ is optional, if missing, the Asycube will execute the currently
selected sequence (command {US?} allows to ask the selected sequence ID).
- The ‘center of mass’ is optional if the sequence doesn't contain a centering vibration.
- The ‘number limit of parts for vibration’ must have the value 0 to use the value
already in the Asycube memory.
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