Manual

Appendix E 15-3
Throughput
When system vector and arc throughput is a consideration, there are two interesting special
cases. The first, Case I, is a one-time startup delay at the beginning of a sequence of moves.
It can be diagramed as follows, where the time axis is left-to-right:
CASE I -- STARTUP
A B C D
----host---->
computation
----RS-232C-->
 transmission 
---Automove--->
 precomputation 
--- Move . . .
 execution
At time B the host finishes computing or looking up the coordinates of the next vector or arc,
and begins transmitting them, in ASCII, to the Automove System. At time C the
transmission is complete and the Automove System begins its precomputation. At time D
the precomputation is complete and the carriage begins to move. The total time from B to D
is simply the RS-232C transmission time plus the Automove precomputation time.
The host is free at time C to begin computing or looking up the next vector or arc. (This
could be moved up to time B through the use of interrupt-driven host software.) The
RS-232C channel is free at time C to begin transmitting the next command. The Automove
System is free at time D to begin precomputing the next move.
This brings us to the second interesting case: the long term steady state where multiple
moderate-length moves are being performed and the mechanical system is the slowest
element. This case, Case II, can be diagramed as follows, assuming no
computation/transmission overlap within the host: