On 13 September 2010 16:41, yann jautard <[email protected]> wrote: > I take the exemple of my gluing machine : the gap I have to fill with > the glue have a change in size in some places, so I have to lower the > speed to achieve filling correctly, when the size increases. I do this > with a succession of G1 with different F, but has the change in the size > of the gap I have to fill is progressive, if I could also set the accel > value when changing speed, it would greatly improve the final result, as > the speed could "follow" the gap variation.
It has belatedly occurred to me that there might be a fairly simple solution to this. There is a "limit3" component in HAL which will limit the output to follow the input within limits of x, dx/dt and d2x/dt2 In principle one could pass the stepgen input values through this function. I am not clear how you would handle following-error this way. You could simply short-circuit it in HAL so that axis.pos-cmd is linked direct to axis.pos-fb, but I am unclear how that would work (How does the motion planner know to update the position data?) All in all, perhaps it might be simpler to hack the trajectory planner to export acceleration as a pin? -- atp ------------------------------------------------------------------------------ Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing http://p.sf.net/sfu/novell-sfdev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
