Viesturs sestd., 2024. g. 7. dec., plkst. 00:28 — lietotājs gene heskett (<ghesk...@shentel.net>) rakstīja: > > On 12/6/24 16:48, Viesturs Lācis wrote: > > > > I am fine with workarounds as well. I did find discussion from 3 years > > ago here on mailing list with a suggestion of putting limit3 component > > before pid component. That machine has 8i20 servo drives, if that > > changes anything. pid.n. command is connected to joint.n.motor-pos-cmd > > at the moment. > > > I'm far from an expert on that but a limit3 has done what I needed > several times. And IIRC it has always been applied prior to the pid its > controlling,, preferably in such a position as to shape it all in one > module. >
I would like to ask for more details on how exactly to implement this. Since now the pid input is position, adding limit3 does not make sense as I would not control the jerk. I need to change the pid input to velocity. Does it mean that it will change from closing position loop to closing velocity loop? And I will have to redo pid tuning? Or is there anything experimental that I could volunteer to test on actual machine? I found this attempt from Chris Morley: https://forum.linuxcnc.org/24-hal-components/40152-jerk-limited-trajectory-planner-hal-component#184119 That post is 4 years old. Has there been any update to that code? Is it worth testing on actual machine? Aaand then there is this thread: https://forum.linuxcnc.org/38-general-linuxcnc-questions/50268-trajectory-planner-using-ruckig-lib?start=0 Is there anything else I have missed that is worth a test? Viesturs _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
