Viesturs, Am 07.02.2013 um 17:24 schrieb Viesturs Lācis:
> 2013/2/7 Michael Haberler <mai...@mah.priv.at>: >> >> >> 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? this is the foodchain how to think about it: the reporting scheme can be applied as laid out for your situation if: - there is a group X, which - has a member Y which by definition must refer to a pre-existing signal Y - and signal Y is linked to the pin you want to have reported. The short answer is: if the value is made accessible as a HAL pin: yes. > 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. I'm not sure how this relates to what I proposed; what I wrote about was exclusively about: "how do we report status of HAL components using messaging, without getting into a compile-time straighjacket of message formats." - Michael > > -- > 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 > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers ------------------------------------------------------------------------------ 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 Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
