Hal s-curve component for download. loadrt DoFs[x]

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23 Aug 2021 08:40 - 24 Aug 2021 10:00 #218473 by Grotius
Last edit: 24 Aug 2021 10:00 by Grotius.
The following user(s) said Thank You: tommylight

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23 Aug 2021 14:13 #218515 by andypugh

- No synchronisation between DoFs.
 

Does this mean that it does not make coordinated moves? 

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23 Aug 2021 16:40 #218527 by Grotius
Hi Andy,

When doing a combined move for xyz (dof.0, dof.1, dof.2) for example.
The result is that xyz will not end together at same time.

This interpolation step (synchronisation of multiple DoFs) can be a single DoFs for path planning at the front-end.
This front-end DoFs then has to be given the logic to do a lineair and circulair interpolation over the gcode path.



 

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24 Aug 2021 00:52 #218568 by cmorley
hey thanks for making it relatively easy to try. steconf or pncconf test should be easy to tie into and test real hardware.
Just for comparisons sake.

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24 Aug 2021 09:48 - 24 Aug 2021 22:24 #218603 by Grotius
Hi,

You can actually implement the s-curve DoFs already in a real machine.
Just put it between the commanded position and a stepgenerator or pid.
Then your mill or plasma machine will run partially a s-curve motion profile.

[Edit]
I now have the synchronized s-curve component ready, configurable for multiple dofs.
It works best with max 3 DoFs at servo thread 1ms.
github.com/grotius-cnc/hal-core/tree/mai...mponents/synchrodofs





 
Last edit: 24 Aug 2021 22:24 by Grotius.

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