11/23/2015 11:50 PM, sam sokolik rašė: > Rob has been in his zone again.. He has expanded circular arc blending > into uvw axises. > > https://github.com/robEllenberg/linuxcnc-mirror/tree/feature/uvw-blending-dev > > we were wondering if you could run it and see if you find any issues. > Rob and I have hammered on it a bit. so far so good. > > sam > > ps - still falls back to parabolic (1 segment look ahead) for abc > axis. Rob says > > 'There are a few obstacles to rotary axis blending still. The biggest > one is that the units for linear axes and angular axes are different, so > tolerances, arc radius, and similar properties are ambiguous. I have > some ideas to work through, though, so it may be doable.' >
Not in all cases XYZ are linear and ABC are angular. For example, 6-axis robots controlled from robot physics/kinematics savvy CAM G-code - all axes might be angular. Some custom machines might use axes in all possible ways. And all-axes smooth blending is very important thing to have, but different arc-blending tolerances for each axis is a thing to discuss. Could they be programmed in g-code as some G64.0, G64.1, G64.2, G64.3, .. G64.8 parameters? And / or set them from ini file at startup. Any other / better suggestions? ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
