2011/4/1 Stephen Wille Padnos <spad...@sover.net>: > > It's probably not the interpreter that needs improvement, actually. HAL > can handle as many actuators as you want (subject to some execution time > limits that nobody has come close to yet). One could easily write a > very very simple motion control HAL component, which can have multiple > instances. This might be something like a limit3 that takes into > account multiple inputs simultaneously. If there were a userspace > component to feed positions (think like halsampler/halstreamer or > something), then you'd be all set. > > This is probably closer to what the original question was, since it's > unlikely that any pick&place machine cares what the next one is doing. > It's also not necessary to use G-code to command a pick&place - it only > needs 2(.5)D coordinated motion and some I/O. >
Please correct me, if I am missing something: 1) the only way I imagine, how one can describe the "2(.5)D coordinated motion", is by g-code. 2) if You want several coordinated motions simultaneously, then You need several instances of trajectory planner (or other module that is responsible for coordinating the moves), because AFAIK currently EMC cannot simultaneously control more than one tool, it can execute only one coordinated motion at a time. Viesturs ------------------------------------------------------------------------------ Create and publish websites with WebMatrix Use the most popular FREE web apps or write code yourself; WebMatrix provides all the features you need to develop and publish your website. http://p.sf.net/sfu/ms-webmatrix-sf _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
