The way I understand it - the kins are 'on top' of motion at the moment. (I don't know if ja4 solves this - but I think it is the start).. So motion calculates the xyzabcuvw limits - then they get run through the kins module which could depending on the machine layout - multiply or divide these calculations for each 'joint'.
sam On 12/26/2013 11:03 AM, Charles Steinkuehler wrote: > On 12/26/2013 10:17 AM, Chris Radek wrote: >> On Thu, Dec 26, 2013 at 09:17:18AM -0600, Charles Steinkuehler wrote: >> >>> simple "move the joint until the switch closes". IMHO there needs to be >>> a way to write programmable homing routines that can perform coordinated >>> motion in joint and/or world space, But one thing at a time... >> I don't see how you can possibly move in world space before homing. >> I do see how you could move all joints simultaneously, for instance, >> which might be what you mean? This is a form of "coordinated" >> motion but it is not how we usually use the term "coordinated", >> which means in world mode and in lines and arcs, etc. >> >>> PROPOSAL: >>> It seems to me that the limit check functions should be plug-able, like >>> the kinematics module. The limits could then be as simple or complex as >>> required by any particular machine. >> Have you tried just having your inverse kins return a failure in the >> situations you've identified as bad? in JA4 this is dealt with >> nicely I think. Endpoints are checked before a move is started. >> Not sure about how world mode jogs handle it. > I've had kinematics return invalid results for position, and I suppose > it behaves similar to hitting a limit (the machine shuts off and an > error is presented on-screen). So position might not be too bad as-is > (although it's nice to be told if gcode exceeds the machine limits on > program load instead of 90% of the way through!). > > I'm more concerned about being able to set coordinated acceleration and > velocity limits, so I can avoid having to perform X and Y moves at 57 % > of my available max velocity and acceleration just so the occasional XYZ > move doesn't exceed 100% of machine limits. > > Details: > Given a maximum X, Y, and Z velocity of 1.0, the maximum speed of an XY > move is 1.414 (or SQRT(2)), and the maximum speed of an XYZ move is 1.73 > (or SQRT(3)), so I have to set my limits to 1/1.73 (0.577) of the actual > limits or the machine will exceed them in the "corner" case. > (pun intended) > > ...or is there already a way to limit the "directional" speed and > acceleration of the head and not just the maximums in each Cartesian > coordinate? > > > > ------------------------------------------------------------------------------ > Rapidly troubleshoot problems before they affect your business. Most IT > organizations don't have a clear picture of how application performance > affects their revenue. With AppDynamics, you get 100% visibility into your > Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! > http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk > > > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
