Knee mill table height; external offset or something else?

m0602232 wrote:

It might respect joint limits but the trajectory planner does not seem to calculate deceleration approaching soft limits. I tried only by jogging onto soft limit -> following error.

It does, i have several machines that can do 24-36M/M and can jog them freely up to limits at full speed, it never hits the hardware limits since soft limits are set 5mm before hard limits.

Yes when using axis limits it works but I can only rely on joint limits in this case. Are you sure it should work with only joint limits in world mode?

No, it doesn't work like that with joint limits, you would jog right into the soft limit and then motion will suddenly stop. There will be no controlled deceleration but something more like an e-stop event.

m0602232 wrote:

Yes when using axis limits it works but I can only rely on joint limits in this case. Are you sure it should work with only joint limits in world mode?

All those machines use 2 joints for Y axis, so it does work with joint limits in world mode. Those 2 joints can not be jogged/moved in joint mode, only after homing when it switches to world mode they can be jogged, together, not single joint at a time.
What am i missing here?

What am i missing here?

We are using custom kinematics here, so things are a little unusual.

Maybe you have same limits in joints and axis if your machines are gantry-style?

Anyway, I summed axis z limits and table encoder position to ini.z.max and -min_limit in postgui, about like how Aciera suggested (pos-fb-limited is the encoder position after limit3 smoothing):

loadrt sum2 count=2
addf sum2.0 servo-thread
addf sum2.1 servo-thread
setp sum2.0.in0 [AXIS_Z](MIN_LIMIT)
setp sum2.1.in0 [AXIS_Z](MAX_LIMIT)
net pos-fb-limited sum2.0.in1 sum2.1.in1
net zmin-switched ini.z.min_limit sum2.0.out
net zmax-switched ini.z.max_limit sum2.1.out

At least after first quick test it seems to be working. If you see any reason why it should not be done like this please tell, otherwise huge thanks to Aciera and other contributors!