On 12/26/2013 10:17 AM, Chris Radek wrote: > On Thu, Dec 26, 2013 at 09:17:18AM -0600, Charles Steinkuehler wrote: > >> simple "move the joint until the switch closes". IMHO there needs to be >> a way to write programmable homing routines that can perform coordinated >> motion in joint and/or world space, But one thing at a time... > > I don't see how you can possibly move in world space before homing. > I do see how you could move all joints simultaneously, for instance, > which might be what you mean? This is a form of "coordinated" > motion but it is not how we usually use the term "coordinated", > which means in world mode and in lines and arcs, etc. > >> PROPOSAL: >> It seems to me that the limit check functions should be plug-able, like >> the kinematics module. The limits could then be as simple or complex as >> required by any particular machine. > > Have you tried just having your inverse kins return a failure in the > situations you've identified as bad? in JA4 this is dealt with > nicely I think. Endpoints are checked before a move is started. > Not sure about how world mode jogs handle it.
I've had kinematics return invalid results for position, and I suppose it behaves similar to hitting a limit (the machine shuts off and an error is presented on-screen). So position might not be too bad as-is (although it's nice to be told if gcode exceeds the machine limits on program load instead of 90% of the way through!). I'm more concerned about being able to set coordinated acceleration and velocity limits, so I can avoid having to perform X and Y moves at 57 % of my available max velocity and acceleration just so the occasional XYZ move doesn't exceed 100% of machine limits. Details: Given a maximum X, Y, and Z velocity of 1.0, the maximum speed of an XY move is 1.414 (or SQRT(2)), and the maximum speed of an XYZ move is 1.73 (or SQRT(3)), so I have to set my limits to 1/1.73 (0.577) of the actual limits or the machine will exceed them in the "corner" case. (pun intended) ...or is there already a way to limit the "directional" speed and acceleration of the head and not just the maximums in each Cartesian coordinate? -- Charles Steinkuehler [email protected]
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