jros wrote: > Hello :) > > I wonder If the attached graphic describes the meaning of > FERROR & MIN_FERROR variables??. > > That is, motion will be aborted for a given velocity if absolute value > of actual and commanded position diference is over the black line. > > I suppouse also that this difference is measured in joint coordinates > because if forward dynamic model is not available there wouldn't be a > method to know comanded position in axis (machine) coordinates. Do you > agree? (I'm working with a parallel kinematics machine and diference > matters) > > A completely different question: Is Integrator's manual an augmented > User Manual?. In other words, do I miss somethig if I don't read User > Manual if I read Integrator's Manual?. > > Thanks in advance > > Javier Ros >
I think that is exactly how it works, but I'd have to check the source to be sure of the exact shape of the line. The only other possibility is that the lines runs straight from MIN_FERROR at zero speed to FERROR at max speed, without the flat part and bend that you show in your drawing. If it turns out that your drawing is correct, do you mind if we use it in the manual? The manual is released under the GNU Free Documentation License, all we need is your consent to release the drawing under that license. Regards, John Kasunich ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2008. http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
