2013/2/7 Michael Haberler <[email protected]>: > > > Please let me know if where above makes any sense, or not at all, where it is > unclear, and point me to out outright errors and omissions. >
Michael, You explained it as if it was a piece-of-cake task for 2 afternoons :)) I have just one quick question: Does this messaging scheme would allow user to access axes positions, reported from trajectory planner to motion controller and modify them - add/remove some specific offsets in "sum2" or whatever component? There are many cases, when user might like to adjust position of certain joint, while g-code file is being executed. For example, recently there was a question about wood router and adjusting Z axis position by fractions of mm on fly. The same applies to THC for plasma tables - current implementation scheme means that motion controller is not aware of actual joint position, so motion controller cannot obey machine's soft limits. What I am trying to say - I see a very good use for access to axis positions between trajectory planner and motion controller. Currently I am writing custom kinematics modules, adding HAL pins and implementing any kind of offsets there, which is not convenient. -- Viesturs If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Free Next-Gen Firewall Hardware Offer Buy your Sophos next-gen firewall before the end March 2013 and get the hardware for free! Learn more. http://p.sf.net/sfu/sophos-d2d-feb _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
