It seems that motion interpolates between max f-error and min-ferror on the basis of velocity. But the velocity it uses is that from the trajectory planner (I think)
The effect is that if there is a significant offset from a kinematics module it applies the min_ferror even though the joint might still have a long way to go. This is shown on the Halscop below, where I swung the head from +10 to -10 degrees necessitating a large chage in Joint0. To a large extent the problem is due to a very slow (misconfigured) stepgen but sort of shows the point. The solution in this case, with a stepper config, is just to set MIN_FERROR to be greater than the maximum possible offset from the kins, but I feel it might be wrong as it stands. (This is me inviting debate on the subject) -- atp ------------------------------------------------------------------------------ ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
