EtherCatCycleScenario

Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/realtime.py.

Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.

num_axes drives on one EtherCAT chain, bytes_per_axis of process data each per cycle.

Notes

Equation: Result = mlsysim.solvers.EtherCatCycleModel.solve with the named scenario fields; no extra fitting or postprocessing is applied.

Assumptions: The supplied inputs use the units and validity regime documented by EtherCatCycleModel.solve; this class binds one reproducible configuration.

Excludes: Any behavior excluded by EtherCatCycleModel.solve, and measurement or calibration of the supplied inputs.

References

Implementation reference: mlsysim.solvers.EtherCatCycleModel.solve documents the composed equation and its sources.

Examples

The named registry scenario supplies the stated inputs; this is a modeled calculation, not a new measurement.

>>> from mlsysim import Scenarios
>>> scenario = Scenarios.WarehouseServoEtherCat
>>> round((scenario.result.frame_time).to('μs').magnitude, 6)
16.64

Attributes

Name	Description
baud_rate
bytes_per_axis
cycle
header_bytes
hop_delay
num_axes
result	Return mlsysim.solvers.EtherCatCycleModel.solve for this scenario; output fields retain the units and feasibility semantics specified by that solver.

num_axes

Type: int.

Declared default: required.

bytes_per_axis

Type: int.

Declared default: required.

baud_rate

Type: Quantity.

Declared default: required.

header_bytes

Type: int.

Declared default: required.

hop_delay

Type: Quantity.

Declared default: required.

cycle

Type: Quantity.

Declared default: required.

result

engine.scenario_types.EtherCatCycleScenario.result

Return mlsysim.solvers.EtherCatCycleModel.solve for this scenario; output fields retain the units and feasibility semantics specified by that solver.

Equation: mlsysim.solvers.EtherCatCycleModel.solve (scenario fields).