On Fri, Oct 14, 2011 at 10:15 AM, Kirk Wallace <kwall...@wallacecompany.com> wrote: > I now have an encoder mounted to my tool carousel. I linked the encoder > to a PID and found that each pocket is 720 counts apart. I can travel in > either way to get to a pocket, but there is no motion control, so the > start and stop is pretty abrupt. I am starting to consider implementing > some sort of motion planning to control the acceleration on each side of > the move, but now that I actually need to create the solution it becomes > more complicated. Finding the closest path to the target pocket should > be easy. The next step is to feed position commands to the PID to > control the trajectory. A couple of issues are that the carousel will > not be an axis and the motion component is not available during a tool > change, also position overshoot (but eventually corrected) is > acceptable. As is, the straight PID works okay, but if I increase the > maximum carousel speed (very likely), the start/stop jerk may become a > problem. Any pointers on how to attack this problem would be > appreciated. > > -- > Kirk Wallace > http://www.wallacecompany.com/machine_shop/ > http://www.wallacecompany.com/E45/index.html > California, USA > > > ------------------------------------------------------------------------------ > All the data continuously generated in your IT infrastructure contains a > definitive record of customers, application performance, security > threats, fraudulent activity and more. Splunk takes this data and makes > sense of it. Business sense. IT sense. Common sense. > http://p.sf.net/sfu/splunk-d2d-oct > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users >
dang its like an airpot! limit3 examples in http://www.linuxcnc.org/docview/html/hal_hal-examples.html hth tomp ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity and more. Splunk takes this data and makes sense of it. Business sense. IT sense. Common sense. http://p.sf.net/sfu/splunk-d2d-oct _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
