Compensating for delays between joints

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12 Jun 2018 20:05 #112261 by mechatroptik rainer
Hi,


in my machine, I combine stepper- and servodrives. After having done lots of tests, i conclude that the stepper joint is by some milliseconds earlier than then the servo joint. The delay seems to be constant, no matter what path or feed i'm going. I ruled out effects of acceleration or of PID parameters. I suspect the servodriver to have an input filter that causes the phenomenon.

I'd like to set a delay for the stepper joint to comensate for that. How can I do that? Are there some parameters to set a delay (I couldn't find any)? Can it be done in kinematics? Shall I write a special HAL component? - if so - is there some related HAL component I can build on?

Thank you in advance!

Regards
Rainer
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12 Jun 2018 21:46 #112263 by PCW
Not sure how portable it is but machinekit has a component for this:

www.machinekit.io/docs/man/man9/delayline/
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13 Jun 2018 17:20 #112297 by andypugh
github.com/machinekit/machinekit/blob/ma...mponents/delayline.c

Looks like it ought to compile / install with halcompile.
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