Trajectory Planner using Ruckig Lib

scurve branch has now been synchronised with Grotius's latest works and proven to compile/run using the build_make and build_cmake script sequence from the cmake directory.

This means no need to setup for OCC compile dependencies.

Cheers - J.

Currently, it's only for art models - there is no circles and other similar forms. Such g-code could be only parted with small lines.But thanks.

Modern cad spits out micro segments. A modern machine needs to keep up. Linuxcnc actually does mostly keep up, but without jerk control it can be a rattling experience. G64 mode does smooth over 90% of the moves automatically. The last 10% is what I am hoping will eventually get worked out here.

ihavenofish wrote:

Modern cad spits out micro segments. A modern machine needs to keep up.

True. The CAM I use for 3d contours is all linear output and constrained within "in-tolerance" & "out-tolerance". Can easily put up a beefy half-a-million blocks for a 5-10min machining operation (eg. mold surfacing). I wouldn't expect this to run on Lcnc without an ultra-fast smoothing algo the like of CYCLE832 (Sinumerik).

This project/thread seems the way to go. 

Grotius wrote:

Hi Joco,

Good luck with your machine.

Indeed the xyz ruckig back-end runners ensure at least a valid motor output with no velocity jumps.

I still believe in our own trajectory planner, I think we have to add blending to it first.
Then we could use the G64 P0.01.

So i started writing a blending function, 3d blending wich works now for line-line blending. Arc-line blending still todo.

Hi Grotius.  I got this compiled on my plasma table and gave it a whirl using the same config in use for previous tests. Just with new runner module active.  Things home ok but as soon as I try and run a test ngc joints 0,1,2 all get follow errors.  NB this is a 4 joint setup being a gantry machine. 

I will have another crack later in the day and if still having issues will attach the config in case you spot a silly mistake.

cheers - J. 

I've been surprised. I recently did a vac form mold in aluminium and it happily moved along at 200+ipm. The limit seems to be the machine, not the software at least in this zone. My program was like 14mb for under 30 mins of cutting.