Hi,
Thanks everybody the answers. I made a picture about pid.0.error (X-axis),
pid.1.error (Y-axis), axis.0.motor-pos-cmd and axis.0.motor-pos-cmd. You can
see it in: http://www.upload-images.net/imagen/c6ebc76f47.png , an other
after the acceleration changed smaller value:
http://www.upload-images.net/imagen/f8e3a1376b.png The red and blue are the
error signals, green and violet are the motor position commands. You can see
the second axis starts moving before the first stop.
Sure, the machine has a continuous following error, but I though the EMC2
will tolerate it. If the trajectory planner use the feedback signal to
detect the exact stop in place of own position output, it could work.
So, it's seems to me, I have to reduce the following error to get sharp
edge. Like Chris sad, I have to tune my PID more strong, than I get worse
accuracy :( (Backplot has sharpe edge.)
Thx,
Tamas
On 8/23/07, Chris Radek <[EMAIL PROTECTED]> wrote:
>
> On Thu, Aug 23, 2007 at 08:51:09AM -0500, Sam Sokolik wrote:
> > The lower you have your acceleration set - the more you will see emc2
> 'blending'
> > http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?TrajectoryControl
> >
> > If you want it to be exact path you need to use G61. This will
> > stop at every endpoint and follow the path exactly. You could do
> > a G64 Px.xxx where x.xxx is how close you want emc to follow the
> > actual path. emc will slow down during direction changes enough
> > to stay within the tolerance you specify.
>
>
> I tested G61 and did not find any problems.
>
> If on a servo system you are getting rounded paths still with G61,
> your PID tuning probably needs attention. Check your following
> errors.
>
> If you see sharp corners in the backplot but round corners on your
> part, it's certainly a tuning problem.
>
> Chris
>
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