Alex Joni wrote: >> Yes. I tried to get EMC2 to include rotary axes in the velocity >> calculation, but was overruled > What happens if you have 3 stacked rotaries and you want to move them all? > Obviously, this assumption needs to be a configurable option, as it either makes no sense or just becomes more complicated when the kinematic gets more complicated. > What happens when the radius changes during a move? > Well, that's the plan, with just an A axis, for the feedrate to be computed based on changes in radius. > What happens if the A/B/C rotations aren't actually rotary tables, but head > tilting for a non-carthesian machine? > You HAVE to deal with that in a kinematics routine, as the distance between the joints matters. > I think it's a lot more difficult than the simple case: only one rotary, > fixed radius during the move, etc. > Well, in the case of just an A axis, even **I** could handle the trig for constant feedrate with changes in radius, and just put it all in the G-code.
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