Thanks. Anders's nice explanation for tcRunCycle() is very helpful. One question is that vs (vel suggested) could be possibly greater or equal to vc ( vel current), i.e., vs >= vc. That is true especially in the acceleration period. From your figure, it looks that vs is less than vc and line vc-vs-tm looks like ONE straight line. My understanding is that line vc-vs and line vs-tm could be in two different lines. However, the equation to calculate the area under the lines remain the same.
If the current velocity is not zero at this moment (t=0), then, at the next sampling instant (t=ts), the velocity must be vs. When we calculate the vs, we don't have to consider any velocity or acceleration constraints during the period [0, ts] . In the period [ts, tm], we do consider the acceleration constraint (am). If vc=0, this is the case of simple_tp as explained in http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Simple_Tp_Notes Can anyone kindly help to check the above understanding? Xue-Cheng XI My understanding is: regardless the current velocity, > ------------------------------ > > Message: 6 > Date: Sat, 21 May 2011 16:16:35 +0300 > From: Anders Wallin <anders.e.e.wal...@gmail.com> > Subject: Re: [Emc-developers] About tcRunCycle() > To: EMC developers <emc-developers@lists.sourceforge.net> > Message-ID: <BANLkTikvPvexBS5RdSx8hOCA8FSEVLR=s...@mail.gmail.com> > Content-Type: text/plain; charset=ISO-8859-1 > > I have now added this to the wiki: > > http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?Simple_Tp_Notes > > if there are issues with the figure, the triangles, or the math, > please feel free to update and make the wiki page better. > > Anders > ------------------------------------------------------------------------------ What Every C/C++ and Fortran developer Should Know! Read this article and learn how Intel has extended the reach of its next-generation tools to help Windows* and Linux* C/C++ and Fortran developers boost performance applications - including clusters. http://p.sf.net/sfu/intel-dev2devmay _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
