As of now, circular arc blending doesn't work with the ABC axes (which is why it's running so slowly for you with short segments), but I'm working on a fix. I had an extensive discussion with Andy Pugh a while back, which led to some great ideas on how to solve this problem. There are two big reasons it doesn't work now:
1) ABC units are degrees, whereas linear axes (XYZUVW) are in distance. A spherical arc doesn't make physical sense between axes of different units. 2) "Velocity" as defined by the TP is actually velocity in either XYZ, ABC, or UVW axes, depending on the context, but a spherical arc in general would involve change in all 9 axes, so the arc length (and it's derivatives, TP velocity and acceleration) needs to be expressed in terms of all axes. What I'm working on now is to treat ABC axis motion as an equivalent tool tip motion in distance units. For example, if the tool is 10 inches above the physical A axis, then the A axis has an effective radius of 10 inches. Therefore it's easy to convert the angular motion to an equivalent tool top motion. Ex: a 90 deg rotation would be similar to a linear move of pi / 2 * 10 ~= 15.71 in. The good news is, if we assume some constant effective radius for all ABC axes, I think it's possible to implement with the same basic structures as the ones in my my experimental UVW axes blending branch <https://github.com/robEllenberg/linuxcnc-mirror/tree/feature/uvw-blending-dev> . The hard part is making the effective radius change with tool tip position. That's my long-term goal with this fix, but it may still be a big improvement to assume a constant effective radius. Best, Rob On Sun, Nov 6, 2016 at 10:51 AM Tomaz T. <tomaz_...@hotmail.com> wrote: So for now there is no solution to speed this up till TP will be modified in the way that it will take and "optimize" also moves with rotary axis ...? PS. yes I'm from Slovenia. ________________________________ From: klemenzivko...@gmail.com <klemenzivko...@gmail.com> on behalf of Klemen Zivkovic <klemen.zivko...@gmail.com> Sent: Sunday, November 6, 2016 2:10 PM To: tomaz_...@hotmail.com Subject: [Emc-users] max_velocity during execution - multiple axis Hello, I think your problem is that linuxcnc have x,y,z trajectory planning. As soon as you add rotary axis to have combined move you end up with single lookahead in tp, so this limits velocity. Check this out: https://forum.linuxcnc.org/20-g-code/29662-coordinated-motion-involving-rotary-axis According to your name - I need to ask you are you native slovenian speaker? regards KLemen ------------------------------------------------------------------------------ Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today. http://sdm.link/xeonphi _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Developer Access Program for Intel Xeon Phi Processors Access to Intel Xeon Phi processor-based developer platforms. With one year of Intel Parallel Studio XE. Training and support from Colfax. Order your platform today. http://sdm.link/xeonphi _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
