> On Sun, Apr 3, 2016, at 12:14 PM, Nicklas Karlsson wrote: > > Then reading the configuration file I find there max acceleration and > > velocity is defined twice. They are defined in both [TRAJ] and [AXIS_?] > > sections. > > I am reasonably certain that the TRAJ limits apply to the combined motion of > the > controlled point, while the AXIS limits apply to the individual axes. > > Consider a 45 degree move. If X is moving at its limit of 10 units/sec and Y > is also > moving at its limit of 10 units/sec, the controlled point is moving at 14.14 > units/sec. > If the TRAJ limit was also 10, X and Y would be slowed down to 7.07 units/sec > so > that the controlled point is moving at 10. > > > > > > Does the trajectory planner follow the limit in it's own section? In such > > case what happen if [AXIS_?] limit is lower? > > > > I'm pretty sure lowest limit wins. > > Assume X limit is 6, Y limit is 8, and TRAJ limit is 9. > A move from (0,0) to (10,0) is parallel to X and would be limited to 6. > A move from (0,0) to (0,10) is parallel to Y and would be limited to 8. > A move from (0,0) to (12,16) would result in X moving at 5.4 units/sec > and Y moving at 7.2 units/sec, so that the motion of the controlled > point is at 9 units/sec even though neither axis is at its limit.
Never thought about it before but interestingly enough it is possible to get sqrt(2) larger acceleration in the diagonal provided maximum acceleration is equal for both axis. For three axis it is sqrt(3) which is a quite large difference. ------------------------------------------------------------------------------ Transform Data into Opportunity. Accelerate data analysis in your applications with Intel Data Analytics Acceleration Library. Click to learn more. http://pubads.g.doubleclick.net/gampad/clk?id=278785471&iu=/4140 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
