When an S-word is encountered, emc first waits for any pending move to
finish, then modifies the spindle-speed-output, then begins the next
move. This causes not only an "exact stop", but an additional pause
that appears to be around 100ms on my test machine. This is not
intended to allow the spindle to reach the commanded speed, it's true of
almost anything that isn't a motion, but must happen at the right time
with respect to motion.
I ran the following program on the simulator:
M3S100F10
G0X0
G1X.1S100
G1X.2S200
G1X.3S300
G1X.4S400
M2
Here's a plot of spindle speed (bottom plot) and X velocity (top plot)
as the program runs:
http://emergent.unpy.net/files/sandbox/spindle-pauses.png
you can see the 3 pauses in X axis motion, one for each spindle speed
change.
It's clear that improved handling of motion and non-motion actions is
important, but work on this will have to wait until we start the
development for what will be emc 2.2.
If you hook the laser intensity to the Z or A axis (instead of to the
spindle speed), and set the acceleration and velocity for that axis to
very large values, maybe you will get better results because this
synchronization between each move will go away.
Jeff
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