Andy Pugh wrote: > On 13 September 2010 16:41, yann jautard <brico...@free.fr> wrote: > > >> I take the exemple of my gluing machine : the gap I have to fill with >> the glue have a change in size in some places, so I have to lower the >> speed to achieve filling correctly, when the size increases. I do this >> with a succession of G1 with different F, but has the change in the size >> of the gap I have to fill is progressive, if I could also set the accel >> value when changing speed, it would greatly improve the final result, as >> the speed could "follow" the gap variation. >> > > > It has belatedly occurred to me that there might be a fairly simple > solution to this. > > There is a "limit3" component in HAL which will limit the output to > follow the input within limits of x, dx/dt and d2x/dt2 > In principle one could pass the stepgen input values through this function. > > I am not clear how you would handle following-error this way. You > could simply short-circuit it in HAL so that axis.pos-cmd is linked > direct to axis.pos-fb, but I am unclear how that would work (How does > the motion planner know to update the position data?) > > All in all, perhaps it might be simpler to hack the trajectory planner > to export acceleration as a pin? > >
well, this is far behond what I can do with my level of knowledge, but my solution give good enough result if I take more point where to change the speed. But could be _really_best_ and if it where possible do do something like G01 Xx Yx Zz Fspeed Aaccel for the moment, my ngc file is a big piece of bullshit. For example : F #<_rempl_bd_bav_D> G01 Y43.1 Z44 (point 5 = point 4 + qqes bcm en Y = haut bavette) F #<_rempl_bord_D> (accélération pour en déposer moins après la bavette) G01 x980.11 y315.31 z44.19 F [#<_rempl_bord_D> * 0.75] g01 x980.35 y535.95 z44.35 F [#<_rempl_bord_D> * 1.10] g01 x980.63 y780.84 z44.52 F [#<_rempl_bord_D> * 1.35] G01 X980.7 Y847.25 Z44.57 (point 6 = coin HD) F [#<_rempl_bord_ar> * 1.20] g01 x919.91 y847.31 z44.63 F #<_rempl_bord_ar> g01 x620.40 y847.62 z44.92 F [#<_rempl_bord_ar> * 0.75] g01 x405.7 y847.83 z45.13 F #<_rempl_bord_ar> g01 x87.91 y848.16 z45.44 F [#<_rempl_bord_ar> * 1.30] G01 X-2.75 Y848.25 Z45.53 (point 7 = coin HG) F #<_rempl_bord_G> (...) ------------------------------------------------------------------------------ Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing http://p.sf.net/sfu/novell-sfdev2dev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users