Vibration timing

The effective vibration duration always corresponds to the value requested in the command. However, the duration value returned in the response depends on different conditions. The vibration timing differs from one Asycube model to the other, due to its specific electronics. For example, the Asycube 50, 80 and 240 have an activation delay of 60 ms. This section presents the most typical timing scenarios.

• The activation delay corresponds to the duration between the instant when a vibration is requested and the instant when the actuators start vibrating. The activation delay is relevant for all Asycube models.

• The shutdown duration corresponds to the duration between the instant when the actuators’ drivers shut down (state change from OFF to ON) and the instant when the drivers can be switched back on (state change from ON to OFF). If a vibration is triggered before or after the shutdown duration, there is no impact on the vibration. However, if a vibration is triggered during the shutdown duration, the activation only starts at the end of the shutdown duration.

• The keep ON duration corresponds to the time while the actuators’ drivers stays ON after the end of the last vibration

	Activation delay (A)	Shutdown duration (B)	Keep ON duration (C)
Asycube 50/80	60 ms	180 ms	5000 ms
Asycube 240	60 ms	180 ms	5000 ms
Asycube 380	100 ms (only for the first vibration after a power-on or a reset)	N/A	N/A
Asycube 530	100 ms (only for the first vibration after a power-on or a reset)	N/A	N/A

When a vibration/sequence is triggered, the total duration returned in the response message takes both the activation delay and the shutdown duration into account. For example, with an Asycube 50, if a vibration is triggered in the middle of the shutdown duration, the vibration will start effectively after 150 ms (60 + 180/2). This additional duration is considered in the response; for a vibration requested of 500 ms, the returned duration would be 650 ms.

Timing diagram Asycube 50, 80 and 240

The following timing diagram shows 3 vibrations triggered in different conditions:

1. Normal case where the actuators’ drivers are not active

2. During the shutdown duration

3. During the keep ON duration

Fig. 215 Vibration timing for the Asycubes 50, 80 and 240 (A = activation delay, B = shutdown duration, C = keep ON duration).

The following timing diagram shows the case where a sequence is triggered. The actuators’ drivers stay active during the whole sequence duration with chained vibrations.

Fig. 216 Sequence vibration timing for the Asycubes 50, 80 and 240 (A = activation delay, B = shutdown duration).

Timing diagram Asycube 380 and 530

The timing diagram of Fig. 217 shows the activation delay for the Asycube 380 and 530. The activation delay is present only for the first vibration after a power-up or a reset.

Fig. 217 Vibration timing for the Asycube 380 530 (A: activation delay).