Alex,
I know how to get the tool tip velocity, I am already doing that. It is the current feed rate, either with or without the feed override applied, that I need.
Regards,
Eric
> I am looking to expose the feed rate as a pin to some component and> looking for some suggestions.That would hav
Hi all,
I am looking to expose the feed rate as a pin to some component and
looking for some suggestions.
Background:
This is for a laser application, where I would like to keep the energy
applied to the part constant regardless of the velocity imposed by the
kinematics. I can do this by taking
Sebastian,
I modified stepgen.c, about line 103 and 104 as follows:
if (s->hal.param.maxvel > fabs(max_pos_per_s)
s->hal.param.maxvel = fabs(max_pos_per_s);
On the development system, whch is not connected to hardware, the following error has gone away and it basically looks to be working.
Sebastian,
I should add, this is at approximately line 100 in function hm2_stepgen_instance_prepare_tram_write.
Regards,
Eric
I was poking around in the code, looking for anything suspicious as far as how position-scale is used. I see the following in stepgen.c:
float min_ns_per_step = s->
Sebastian,
I was poking around in the code, looking for anything suspicious as far as how position-scale is used. I see the following in stepgen.c:
float min_ns_per_step = s->hal.param.steplen + s->hal.param.stepspace;
float max_steps_per_s = 1.0e9 / min_ns_per_step;
float max_pos_per_s = max_s
Sebastian, et al,
Here is the latest. I tried entering the minimum number of hal commands to generate the problem. It took quite a few, so I stopped entering them manually and came up with what I believe is the minimum number of hal commands to generate the error. Here is the hal file:
---
Sebastian,
You mean velocity-cmd of -6.25 and velocity-fb -0? There is no transcription error, those are the values I got.
Regards,
Eric
Good point. The code intends to set velocity-cmd to 0 when position error is 0. This is on line 107 of stepgen.c. Eric, might that have been a transcription e
Sebastian,
>> When you say "run-away condition", do you mean the motors move without being commanded, or otherwise somehow move out of control? <<
Yes, exactly. All I have done is to clear the e-stop, which asserts the enables on the two configured stepper motors. When I do that, I get what l
Sebastian,
Hopefully you will get a chance to check your email occasionally.
Anyway, after asserting the enables on the two configured stepper motors, I now get the motors effectively in a run-away condition until shutdown with a following error.
At initialization the stepgen pins have the fo
