Hello.... I'm use EMC with 25uS base period. This came little coarse now as I get stronger motors for my machine. So I look under the hood of emc how works. Now I get confused how all thing works.
If I understand correctly the stepgen (in base period) just make pulse if needed but all the accelerations/deceleration are calculated in servo period thread. Is that true?!? If it's true then acceleration isn't smoth as we think. Assume Servo thread at 1ms and base thread at 25us. Let's assume we accelerate from 0 to 10000 step's /second When step rate is under 1000 the every step can have different length and over 1000 steps the more steps in series have same length not accelerating lineary. Near the end the motor got 10 steps at same length and next 10 steps at little shorter time. San someone verify that this is true? And how that affect performance? (acceleration curve not straight line but staircase one) Is mesa and pluto board done in same way? very thanks for answers. p.s. I forgot to write if that all is true (and mesa/Pluto works same) then we can fit stepgen in some PIC or AVR mcu and leave base period on PC empty (or set same as servo thread?) Slavko. ------------------------------------------------------------------------------ Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing. http://p.sf.net/sfu/novell-sfdev2dev _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
