Re: [Emc-users] Trajectory planning

[Peter Wallace]

On Thu, 23 Nov 2023, John Dammeyer wrote:

Date: Thu, 23 Nov 2023 17:07:57 -0800
From: John Dammeyer <jo...@autoartisans.com>
Reply-To: "Enhanced Machine Controller (EMC)"
    <emc-users@lists.sourceforge.net>
To: "'Enhanced Machine Controller (EMC)'" <emc-users@lists.sourceforge.net>
Subject: [Emc-users] Trajectory planning

Quick question here.   The HAL file has two time intervals I believe in 
nanoseconds?
BASE_PERIOD = 24000
SERVO_PERIOD = 1000000

So BASE_PERIOD is about 41.67kHz and SERVO_PERIOD is 1kHz?

Yes

I'm guessing the encoder edges are counted between BASE_PERIOD Ticks to 
determine spindle velocity?  Is that correct?

Yes

That the trajectory planner calculates a new velocity relative to the spindle every SERVO_PERIOD? In other words the step rate to say the Z axis for threading is changed (or left the same) every 1mS.

Yes

Have I got that right?  Just looking for an overall simple description.

Yep

Thanks
John




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Peter Wallace
Mesa Electronics


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