Sebastian Kuzminsky wrote: > Eric H. Johnson wrote: > >> The table has conventional X and Y axes, Z is performed pneumatically with >> just an up and down position. The A or rotational axis should orient the >> knife tangent to the direction of motion defined by X and Y. >> > > If you treat the knife rotation as a proper axis (controlled by the emc2 > motion planner), then you'd program the angle along with the rest of > your G-code. > > It might be simpler to use the X and Y velocity estimate and some HAL > glue to compute the current motion angle, and output that to the motor > controlling the knife angle, without involving the higher layers. > > I think this is absolutely the correct way, as the C axis will then always follow the path, even when manually moving! And, there's no need for adding C movement to the G-code. When you program a single arc move in XY, the C move would have to be programmed in linear segments, greatly complicating the G-code. HAL has to be the way to do this. You could always use an optional digital output to turn this mode off if desired.
Jon ------------------------------------------------------------------------------ This SF.net email is sponsored by: SourcForge Community SourceForge wants to tell your story. http://p.sf.net/sfu/sf-spreadtheword _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
