Hmm, interesting, but that's only to reduce accel in manual mode, right? It'd reduce shaking while using the mpg, but the G0 moves in the g-code would create motor stalls if used at full speed. I'm wondering if all G0 and manual input could be a mode of higher speed but more limited in acceleration.
I know a lot of people have noted that the standard trapezoidal accel profile doesn't follow the physical properties of the motor (less torque at higher speed=more at lower), but nontrapezoidal profiles with variable acceleration are exceedingly complicated to build into motion control. But it seems that just separating out G0 and G1 with two separate trapezoidal modes gets you like 90% of the way there. Is there any HAL component that can tell if it's running as G0 or G1? Would it make sense for HAL to use the current velocity to reduce acceleration, thus creating a nontrapezoidal profile? I think I can see how the HAL could do that, but I think it would break the motion control & trajectory planner outright. Danny ---- andy pugh <bodge...@gmail.com> wrote: > On 27 June 2016 at 09:41, Danny Miller <dan...@austin.rr.com> wrote: > > So, is there a way to have RAPID_ACCELERATION (for G0 alone) as a > separate thing from MAX_ACCELERATION for the axes, used for G1 motion? Possibly. There are HAL pins to control acceleration. However they are not read during program execution. I don't know whether this will work (and can't test it here) but maybe this is worth an experiment? loadrt mux2 ... addf mux2.0.servo-thread ... net accel-sel halui.mode.is-auto => mux2.0.sel setp mux2.0.in0 100 setp mux2.0.in1 100000000 net accel-selected mux2.0.out => ini.traj_default_acceleration -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 ------------------------------------------------------------------------------ Attend Shape: An AT&T Tech Expo July 15-16. Meet us at AT&T Park in San Francisco, CA to explore cutting-edge tech and listen to tech luminaries present their vision of the future. This family event has something for everyone, including kids. Get more information and register today. http://sdm.link/attshape _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Attend Shape: An AT&T Tech Expo July 15-16. Meet us at AT&T Park in San Francisco, CA to explore cutting-edge tech and listen to tech luminaries present their vision of the future. This family event has something for everyone, including kids. Get more information and register today. http://sdm.link/attshape _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
