I now have an encoder mounted to my tool carousel. I linked the encoder
to a PID and found that each pocket is 720 counts apart. I can travel in
either way to get to a pocket, but there is no motion control, so the
start and stop is pretty abrupt. I am starting to consider implementing
some sort of
On 14 October 2011 16:15, Kirk Wallace wrote:
> As is, the straight PID works okay, but if I increase the
> maximum carousel speed (very likely), the start/stop jerk may become a
> problem. Any pointers on how to attack this problem would be
> appreciated.
If you pass the command position to the
On Fri, Oct 14, 2011 at 08:15:52AM -0700, Kirk Wallace wrote:
> As is, the straight PID works okay, but if I increase the
> maximum carousel speed (very likely), the start/stop jerk may become a
> problem. Any pointers on how to attack this problem would be
> appreciated.
Consider using a limit3
Kirk Wallace wrote:
> I now have an encoder mounted to my tool carousel. I linked the encoder
> to a PID and found that each pocket is 720 counts apart. I can travel in
> either way to get to a pocket, but there is no motion control, so the
> start and stop is pretty abrupt. I am starting to consid
On Fri, Oct 14, 2011 at 10:50:54AM -0500, Jon Elson wrote:
> You cold build a stupid trajectory planner as a hal component. It would
> take a couple
> parameters such as max speed and acceleration, and a pin for final
> position.
This is what limit3 does.
--
On Fri, Oct 14, 2011 at 10:15 AM, Kirk Wallace
wrote:
> I now have an encoder mounted to my tool carousel. I linked the encoder
> to a PID and found that each pocket is 720 counts apart. I can travel in
> either way to get to a pocket, but there is no motion control, so the
> start and stop is pre
On Fri, 2011-10-14 at 10:58 -0500, Chris Radek wrote:
> On Fri, Oct 14, 2011 at 10:50:54AM -0500, Jon Elson wrote:
>
> > You cold build a stupid trajectory planner as a hal component. It would
> > take a couple
> > parameters such as max speed and acceleration, and a pin for final
> > position.
On Fri, 2011-10-14 at 11:08 -0500, Thomas Powderly wrote:
... snip
> dang its like an airpot!
> limit3 examples in http://www.linuxcnc.org/docview/html/hal_hal-examples.html
> hth tomp
Thanks for the link. I haven't seen that one yet.
--
Kirk Wallace
http://www.wallacecompany.com/machine_shop/
h
On Fri, Oct 14, 2011 at 09:22:00AM -0700, Kirk Wallace wrote:
> On Fri, 2011-10-14 at 10:58 -0500, Chris Radek wrote:
> > On Fri, Oct 14, 2011 at 10:50:54AM -0500, Jon Elson wrote:
> >
> > > You cold build a stupid trajectory planner as a hal component. It would
> > > take a couple
> > > paramet
On Fri, 2011-10-14 at 11:47 -0500, Chris Radek wrote:
... snip
> No, on the contrary, it does exactly what you want.
... snip
Great, thanks. I'm on my way to the shop to try it out.
--
Kirk Wallace
http://www.wallacecompany.com/machine_shop/
http://www.wallacecompany.com/E45/index.html
Californi
On 14 October 2011 16:15, Kirk Wallace wrote:
> the start/stop jerk may become a problem.
Actually, this is possibly a case where you do want jerk-limited (rate
of change of acceleration) limiting, and that would require the
as-yet-unwritten limit4 HAL function.
jerk-limited motion ought to ratt
On Fri, 2011-10-14 at 18:22 +0100, andy pugh wrote:
> On 14 October 2011 16:15, Kirk Wallace wrote:
>
> > the start/stop jerk may become a problem.
>
> Actually, this is possibly a case where you do want jerk-limited (rate
> of change of acceleration) limiting, and that would require the
> as-ye
On 10/14/2011 3:27 PM, Kirk Wallace wrote:
> On Fri, 2011-10-14 at 18:22 +0100, andy pugh wrote:
>
>> On 14 October 2011 16:15, Kirk Wallace wrote:
>>
>>
>>> the start/stop jerk may become a problem.
>>>
>> Actually, this is possibly a case where you do want jerk-limited (rate
>>
Chris Radek wrote:
> On Fri, Oct 14, 2011 at 10:50:54AM -0500, Jon Elson wrote:
>
>
>> You cold build a stupid trajectory planner as a hal component. It would
>> take a couple
>> parameters such as max speed and acceleration, and a pin for final
>> position.
>>
>
> This is what limit3
On Fri, 2011-10-14 at 15:43 -0400, Dave wrote:
... snip
> The limit3 function is a very useful function. I have it running 3
> axis on one machine at high speeds.
I got it to work.
http://www.wallacecompany.com/machine_shop/Shizuoka/Carousel_Overview-1a.png
limit3 doesn't really work the way
Hi Kirk,
That is a nice overview of the setup. Can use that for the wiki or manuals?
Thanks
John
On 10/15/2011 12:30 AM, Kirk Wallace wrote:
> On Fri, 2011-10-14 at 15:43 -0400, Dave wrote:
> ... snip
>> The limit3 function is a very useful function. I have it running 3
>> axis on one machine
On 10/14/2011 10:30 PM, Kirk Wallace wrote:
> Homing will need to be worked out, or I could rig up an absolute
> encoder. I found that if I "setp encoder.0.reset 1", the carousel starts
> rotating until I get it set back to 0, and of course the home position
> is then lost. I suppose the procedure
On Sat, 2011-10-15 at 06:37 -0700, Karl Cunningham wrote:
> On 10/14/2011 10:30 PM, Kirk Wallace wrote:
> > Homing will need to be worked out, or I could rig up an absolute
> > encoder. I found that if I "setp encoder.0.reset 1", the carousel starts
> > rotating until I get it set back to 0, and of
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