Andy Pugh wrote:
> On 13 September 2010 16:41, yann jautard <[email protected]> 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>
(...)
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