It is all good looking in theory, but how do you transfer this information to the servo drive? As I understand, now we have all calculations of trajectory done in servo thread with repeat rate equal to ~1kHz. This means that we calculate new data points for drive (either acceleration or velocity) only once per 1ms. It stays constant for this time period, and at best we have some ladder approximation of the A or V. How do you feet gauss or sine function for jerk into this setup?
Alex On Wed, May 2, 2012 at 12:01 AM, Joachim Franek <joachim.fra...@pibf.de> wrote: > On Tuesday 01 May 2012 21:50:32 Viesturs Lācis wrote: >> 2012/5/1 Joachim Franek <joachim.fra...@pibf.de>: >> >> If I understand this discussion correctly, then jerk limit can be set >> to very high number, so the machine would behave very similarly as if >> jerk was not limited at all. >> >> Viesturs > > Look for example to 4267.pdf, page 8. > If you reduce t1 towards zero > (t1-t0) ->0, (t3-t2)->0 etc. > you get a top hat as accelaration. > This trigonometric model allows > continously changing from > nearly unlimited jerc to harmonic behaviour. > > Joachim > > ------------------------------------------------------------------------------ > Live Security Virtual Conference > Exclusive live event will cover all the ways today's security and > threat landscape has changed and how IT managers can respond. Discussions > will include endpoint security, mobile security and the latest in malware > threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
