Trajectory Planner using Ruckig Lib

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2 years 2 months ago #306715 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi Arciera,

The feedrate is set from -100 to 0 to 100 % in the gui. It's like adaptive feed.

I have to add a overide like up to 120%, but that's peanut's to do.
If the feedrate is set at 100% the gcode feedrate is exact that value. For jogging it takes the gui settings page feedrate.
So at -100% the motion goe's in reverse, also doing reverse with endvelocity. Taking the vo as endvel.

Testing a surface, this file is huge so i did a memory preview cleanup first :


Ok after testing a few gcode files, i have seen a few things in the optimizing algo. I will document these and report.
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2 years 2 months ago #306945 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi,

I had to review some path blend code. Step by step, we go forward.
This is a tiny example how to use path blend, tooldir blend, & 3d velocity profile together.

The begin of something good maybe... I am still working on the tooldir, this needs some code review
here and there.


I did a test on the parport production machine, to test the velocity profile. The machine
or my pc is unable to perform a nice 9 axis job. As a result of that,
i am planning to run an ethercat production machine coming day's. This machine still uses stepgen.
However, best is to send just the coordinates to a servo drive. That saves the pc a huge ammount of
calculation time over 9 scurve axis.

 
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2 years 2 months ago #306976 by Aciera
Replied by Aciera on topic Trajectory Planner using Ruckig Lib

However, best is to send just the coordinates to a servo drive. That saves the pc a huge ammount of
calculation time over 9 scurve axis.


I was under the impression that most of this could be done outside of the realtime thread. The filleting algorithm for example, couldn't that run before actual gcode execution?
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2 years 2 months ago #307064 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi Arciera,

I was under the impression that most of this could be done outside of the realtime thread. The filleting algorithm for example, couldn't that run before actual gcode execution?
Yes, all that is done before gcode execution.

It's just the parport machine that run's not good on hal-core.

Now halcore run's a test board with 2 ethercat steppers for x & y axis. But motor's run only very slow.
So i have to figur out what's the problem again.

Will install a new iso on hard disk, then try to run linuxcnc with ethercat. This is tested ok on the testboard
in the past.

 
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2 years 2 months ago #307070 by Grotius
Replied by Grotius on topic Trajectory Planner using Ruckig Lib
Hi,

I found out the problem.

This is a test board i made a few years ago. It uses ethercat and drives stepper motors.
 

I found out that i can run the testboard on hal-core with a sample script.
This scripts only load's the stepgen.so and the lcec.so. It drives just one motor.
When i set a new position using halcmd : ./halcmd setp stepgen.0.position-cmd 1000
It runs to that position, as it should. The stepper sounds nice, and is quick.

So the underlying problem is the trajectory planner of halcore. This consumes too much time as it
is also added to the servo update thread. It slows down the servo update thread. I think this is the cause
that the production machine on the parport also run's not good.

So i will qreate a chrono timer, to first measure the total time of the trajectory planners cycle.
I expect it will exceed the 1ms time of the servo update cycle, but i don't know for sure at the moment. We will find that out.

Then we have to pin point where the time consumers are located in the trajectory planner.
So far i am happy that the ethercat works ok.

Running on : 6.1.0-23-rt-amd64

Warning: Spoiler!

 
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2 years 2 months ago #307139 by Lcvette
Replied by Lcvette on topic Trajectory Planner using Ruckig Lib
This is looking amazing!   I am impressed with how smooth that boomerang video looked!  Absolutely fantastic work my friend!  Thank you very very much for your hard work! 

Chris
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