Feature Requests item #2894111, was opened at 2009-11-08 14:20
Message generated for change (Comment added) made by pkm07
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Category: EMC2 Task Controller
Group: None
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: Yi-Shin Li (yishin_li)
Assigned to: Nobody/Anonymous (nobody)
Summary: calculate ACC and VEL for non-trivial kins (emccanon.cc)
Initial Comment:
Current trajectory planner is not suitable for any machines with non-trivial
kinematics. Please take a look for the following code at
getStraightAcceleration() on emccanon.cc:
tx = dx? (dx / FROM_EXT_LEN(AXIS_MAX_ACCELERATION[0])): 0.0;
For non-trivial kinematic machines, such as SCARA, the dx is contributed by
several joints other than AXIS_0. However, the above code assume that it only
depends on AXIS_0, which is not true for those machines. Therefore, the
calculated accel/velocity for trajectory planner may be incorrect.
This is the comment from Alex Joni:
There are some problems in the current version of emc2, that joints (motors)
and axes (carthesian directions) are mixed in a couple of places. There is
ongoing work (on the joints_axes3 branch) to fix this. But it's a lot of work
(in a lot of layers and places), so there is no fixed timeline when it will be
useable.
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Comment By: pkm (pkm07)
Date: 2011-05-12 17:24
Message:
There's also an issue probably connected to this: angular velocity and
acceleration settings seems to be ignored for non-trivial kins.
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https://sourceforge.net/tracker/?func=detail&atid=356744&aid=2894111&group_id=6744
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