On Tue, 13 Dec 2011, Tom Easterday wrote: > Date: Tue, 13 Dec 2011 13:44:01 -0500 > From: Tom Easterday <tom-...@bgp.nu> > Reply-To: "Enhanced Machine Controller (EMC)" > <emc-users@lists.sourceforge.net> > To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net> > Subject: Re: [Emc-users] Encoders > > > On Dec 13, 2011, at 1:17 PM, Peter C. Wallace wrote: >> A cubic profile >> >> Currently EMC uses a trapezoidal (linear) velocity profile (so parabolic >> position profile) This means the acceleration profile is a step function. The >> beginning of this step is whats hard to tune around (as you have found) >> >> Jerk is the derivative of acceleration so is infinite with stepped >> acceleration (the current situation with EMC). By using a cubic profile where >> the acceleration is ramped (like velocity is now) starts and stops are much >> "gentler" and contain less high frequency components that make it hard to >> tune > > > Thanks Peter. And how/where does one set this as the velocity profile? > Tom
Apply ~0.5 man year to Trajectory Planner > ------------------------------------------------------------------------------ > Systems Optimization Self Assessment > Improve efficiency and utilization of IT resources. Drive out cost and > improve service delivery. Take 5 minutes to use this Systems Optimization > Self Assessment. http://www.accelacomm.com/jaw/sdnl/114/51450054/ > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > Peter Wallace Mesa Electronics (\__/) (='.'=) This is Bunny. Copy and paste bunny into your (")_(") signature to help him gain world domination. ------------------------------------------------------------------------------ Systems Optimization Self Assessment Improve efficiency and utilization of IT resources. Drive out cost and improve service delivery. Take 5 minutes to use this Systems Optimization Self Assessment. http://www.accelacomm.com/jaw/sdnl/114/51450054/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
