Thanks very much,
El mié, 20-02-2008 a las 21:47 -0500, Matthew Glenn Shaver escribió:
> On Wed, 2008-02-20 at 11:42 -0500, John Kasunich wrote:
> > 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.
>
> I think it's the way you describe John (no flat part)
no flat part??
> . I think the
> algorithm is:
>
> [Following Error Check]
> |
> <Is actual_ferror <= min_ferror>-YES-[End Of Check:Return NOERROR]
> |
The previous line means a there is a flat part indeed, and I think it is
compatible with what the manual says
"...The
maximum allowable following error will always be greater than
MIN_FERROR. This prevents
small following errors for stationary axes from inadvertently
aborting motion. ..."
I assume that in case of parallel kinematiks' following error is
measured in joint coordinates...
Thanks very much
Javier Ros
> NO
> |
> ...compare velocity to ferror, etc...
>
> Thanks,
> Matt
>
>
>
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