Where the stepgen getting it's input from ?
11 Sep 2024 03:26 - 11 Sep 2024 03:27 #309878
by PhilipME
Where the stepgen getting it's input from ? was created by PhilipME
Is the stepgen getting its input from the g-code from the ngc file/mdi commands?
and where does that take place?
Thanks
and where does that take place?
Thanks
Last edit: 11 Sep 2024 03:27 by PhilipME.
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- Todd Zuercher
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11 Sep 2024 18:09 #309928
by Todd Zuercher
Replied by Todd Zuercher on topic Where the stepgen getting it's input from ?
it is somewhat complicated. The stepgens do not get their position commands directly from the g-code. There are a few layers in between.
One of the motion planners (there is more than one) sends the commands for movement to the kinematics model, that then sends the joint position commands either directly to or via a PID loop to the stepgen. (I understand that the motion planner used for jogging isn't the same as the one used for program execution.)
The motion planner reads the G-code, calculates what the current commanded position should be and adds required offsets, before sending the axis positio commands to the Kinematics program.
After the Kinematics program translates the axis positions to joint positions, then any additional joint offsets will be added (such as home offsets.
One of the motion planners (there is more than one) sends the commands for movement to the kinematics model, that then sends the joint position commands either directly to or via a PID loop to the stepgen. (I understand that the motion planner used for jogging isn't the same as the one used for program execution.)
The motion planner reads the G-code, calculates what the current commanded position should be and adds required offsets, before sending the axis positio commands to the Kinematics program.
After the Kinematics program translates the axis positions to joint positions, then any additional joint offsets will be added (such as home offsets.
The following user(s) said Thank You: besriworld, PhilipME
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11 Sep 2024 21:57 #309943
by PhilipME
Replied by PhilipME on topic Where the stepgen getting it's input from ?
Amazing
thanksĀ
thanksĀ
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