scurve trajectory planner

Hi all,

Today we added another feature to the scurve planner : tangential knife

The planner outputs a hal float value in degrees.
This rotational value can be used by tangential knife machines to direct the knife in
the vector direction of the trajectory.

 

I did a quick test on my non-rt installation running 'cmake/nc_files/fillet/square_100x100_P5.ngc'.
1. it seems that inital deceleration and final acceleration along the fillet do not respect max_acceleration settings (50 for x in my case)
2. there seem to be acceleration spikes while traversing the fillet

Below is the captured accelerations for X and Y for the first corner of the rectangle:

 

Hi Arciera,

Thanks for feedback.
If the acc in the ini file is 50, the scurve is max 2*50=100 at inflection point. This is normal.

However. I run the same file, and i got no spikes.
This is the first corner :
 

Maybe you did not update the clothoid lib? U used clone recursive wich is needed.
Or git is messed up.

For sure i just did a push for scurve planner, clothoid lib, scurve as up to date.
That's annoying when you have 3 repository's depending on each other.

If the acc in the ini file is 50, the scurve is max 2*50=100 at inflection point. This is normal.

But the acc-cmd value reaches ~180?


[edit]

I did do a 'git pull' and reran './installer' but I can check again tomorrow.

Hi Arciera,

The scurve planner takes the [TRAJ] trajectory acceleration : MAX_LINEAR_ACCELERATION = 200
When tpAddLine, tpAddCircle is done, it gives this 200 value to the planner.
The scurve acceleration max is then 2*200=400 at inflection point.

However the planner does not lower the acceleration to a specifik max joint acceleration at the moment.
We have acces to all joint max acceleration values.

We could reduce max acceleration to satisfy max joint acc. We implement this without any problems.

Congratulations on the development!!!!!

I was able to test using the files, in version 2.10..

I have a machine here with ethercat and I can get 30mxmin, I would like to put it on it to test...

I tried to copy only the .so file in the modules folder, but I'm sure that this is not the correct way...

How do I make it work in version 2.94 normally???