On 18/08/2019 02:41, Dewey Garrett wrote:
It may be better but in many use-cases the expedient of
a simple hal command:
setp joint.N.max_acceleration some_low_value
is sufficient to soften the thump of high mpg accel
and it is considerably simpler than adding components
and nets.
I wholeheartedly agree that adding components and nets to solve this
problem is a pain. The problem with playing with max_acceleration is
that that in some cases you really need to drop the acceleration and I
don't like how that affects the MPG response. I spent quite a lot of
time thinking about the MPG problem and after doing a number of
experiments I found a fixed time filter gave the best results.
As you have probably already guessed by now I'm pretty fanatical about
MPGs. Most of my machines have one per axis and they are mostly much
higher resolution than a normal MPG. For one-off work you can't beat
mixed manual+CNC operation. My Bridgeport was the first in the world to
run MPGs with Mach3, even before Art added MPG handling to his driver.
It was a bit of a kludge and I had to get Art to give me a way of
sending jog commands directly to the driver but it worked.
Now I know the filter works I would be happy to add a filter time option
to joints. As this is a more invasive change I would like to check if
anyone else thinks it is a good idea before going ahead.
Les
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