On Thu, 23 Jul 2020 at 18:30, Nicklas SB Karlsson <nicklas.karlsso...@gmail.com> wrote:
> Limit3 function is what trajector planner must follow if acceleration is > allowed to change instantly, if jerk could be changed instantly it had to > follw a limit4 function ... > In doubt Limit3 function is useful in between PID and PWM. The reason I suggested Limit3 after the PID is because we don't have a Limit4. The output of the PID is offset by by 1 or 2 orders[1] of differentiation. With a torque-mode drive it would actually be the second term that you would need to adjust in an after-the-pid setup. With a velocity mode drive, then you would limit the third term to limit the machine jerk. [1] Or levels. I don't know what the right word is, and Google just takes me to introductory calculus texts. -- 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, 1912 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
