Trajectory Planner using Ruckig Lib

awesome!

Hi,

That is an impressive difference!
Yes i agree.

awesome!
I have a new ethercat production machine, this machine is a candidate to test the scurve on.

Project update:

I finally tracked down the cmake compile error, with makes linuxcnc runs in non-realtime mode.
Now i am able to us the compiled cmake code in realtime.

Lcnc startup output now ok for loading scurve trajectory planner:
linuxcnc TPMOD=tpmod_scurve_grotius HOMEMOD=homemod EMCMOT=motmod
Note: Using POSIX realtime

This is solved it in the cmakefile of the component, using a static link to the lcnc/lib dir.
# Link to libraries.
target_link_libraries(${PROJECT_NAME} PRIVATE linuxcnchal -Wl,-rpath=/home/user/linuxcnc/lib/)

Now this is not a beauty thing, i will make a better solution later on.
 

wooooooooooo

*sends virtual pizza and ice cream*

Hi,

*sends virtual pizza and ice cream*
Nice !

I am now going to test the scurve trajectory planner on the production machine.
It starts up : using posix realtime.

Wish me luck, fingers crossed.
Will make a youtube video once again.

Grotius wrote:

Wish me luck, fingers crossed.

Even on my feet, i have fingers crossed!

Hi,

Thanks Tommy, it helped.

Just finished the test on the production machine.

In the beginning i had some problems, but after a few hours of coding and testing everything went more or less ok.
So in the end, this test is succesfull.

This test was using the tpmod_scurve_grotius.so component. This component used no look ahead and was
using low delta values for the gbrl algoritme.

The component used no back-end scurve runners. The stepgen was directly attached at the tpmod_scurve_grotius.so
output values.

A few things i learned :
- Don't press stop button when machine is moving. Better press pause button as stop can trigger a joint follow error.
- Home all axis before jogging machine, sometimes the dual x axis motors won't run together if not homed.
- The maximum values of this parport driven machine : maxjerk 7500, maxacc 1000, maxvel 10000.
- Change the jerk value when machine is not moving, if doing it while moving linuxcnc can freeze.

A few things made me happy :
- The bigger arc's in the program, the machine moved quite nice.
- The program was running quite stable, restart ok, pause ok. The linuxcnc program flow seems to work properly.

The video :