2013/7/21 Константин Навроцкий <[email protected]> > Here: > > http://www.linuxcnc.org/index.php/english/forum/10-advanced-configuration/13083-4th-axis-tangent-to-path-xy?limitstart=0 > was proposed kinematics (thanks Andy Pugh!) ... > but there are two points to be improved: > a) The knife is driven not by the shortest route ... > b) adds unnecessary movement, for example - while moving in a circle > (0:14 and 0:29 in the video) > > http://www.youtube.com/watch?v=hU-u5Gpoccs&feature=c4-overview&list=UUEjU2O6mqbYu3rsp7X3t10w >
I am not sure I got it right, but that unnecessary movement seems like it unwinds the knife - atan() function will return value in 0-359 degree range, so more than one full turn with knife will introduce 360 degree jumps in the atan() value. Did you try WRAPPED_ROTARY = 1 in INI file for particular joint? -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ See everything from the browser to the database with AppDynamics Get end-to-end visibility with application monitoring from AppDynamics Isolate bottlenecks and diagnose root cause in seconds. Start your free trial of AppDynamics Pro today! http://pubads.g.doubleclick.net/gampad/clk?id=48808831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
