On Mon, Jul 27, 2015 at 10:34 AM, Sebastian Kuzminsky <s...@highlab.com> wrote:
> I agree with Andy, backlash compensation belongs in Motion, since that's > where the trajectory is planned. > > Motion can insert a backlash compensation "move" when a joint changes > direction, and compensate for the time that the backlash move takes by > not moving the other joints (except that possible backlash moves on > other joints may happen at the same time). > An external hal component that tried to do that would have to capture > and buffer all the joint waypoints that Motion was generating during the > backlash move, then when the backlash move is finished either try to > catch up to Motion (which would violate the accel & vel that Motion had > planned), or stay behind Motion from then on out (which would introduce > lag on things that immediately affect the trajectory, like Feed Override). > > Looking at the code, this does not appear to be the case. As it appears, backlash is ramped in and added to the joints position target without affecting the movement of any other joints. See "control.c" line 1871. Yes, this means a joint executing a backlash move will lag behind its target position until the backlash move is complete. Can anyone else confirm this? Regardless, the point I would like to address right now is whether it would be a welcome change or not. Its technical feasibility can be determined during its implementation. Obviously we want everything to work correctly and logically. Brian ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
