Can the acceleration be changed dynamically through HAL and still work properly?
Because say the traj planner looks 10 moves ahead, and it's 2x G1 followed by 3x G0 moves then 5x G1. It forms a plan based on the acceleration rules. But when it hits the 3rd command, the HAL suddenly changes the acceleration rule, invalidating the existing plan. If the traj planner sticks with the preexisting traj plan and only uses the current HAL accel limits to replan the new moves after the current plan is executed, that won't work. There would be G0 moves which have excess accel that could stall the motors. Danny ---- Sebastian Kuzminsky <s...@highlab.com> wrote: > On 06/27/2016 09:09 AM, dan...@austin.rr.com wrote: > > Is there any HAL component that can tell if it's running as G0 or G1? > > The pin motion.motion-type, described here: > > http://linuxcnc.org/docs/html/man/man9/motion.9.html > > "traverse" (1) is a G0, "linear feed" (2) is a G1, and "arc feed" (3) is > G2/G3. > > > -- > Sebastian Kuzminsky > > ------------------------------------------------------------------------------ > 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
