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endian wrote:

 
I saw at my own eyes synchronization of 120 seconds with beckhoff SoE AX5125 driver with older firmware ... its not odd behaviour 

beckhoff IPCs have sometime very similar behaviour with their own hardware from my close experiences...

Hakan wrote:

Synchronization of slave clocks can sometimes take a long time at start.
There is a warning in syslog if it takes more than 5 seconds, or is it 30?
Don't know how to fix it, more than hope the slaves' clocks run more equal
when not being nudged by the master.
Add pll-err to the halscope plot. 
 

Just so Im clear, the pos->v = 2*j[2];function results in the V-axis moving twice the distance of JOINT_2?

And the reverse forj[2] =0.5* pos->v;in the Inverse section?

Don't adjust the case 1 X-axis/joint_2 relationship, because X-axis will move at half-distance when in diameter mode.
DO adjust the case 1 V-axis/joint_0 relationship, because LCNC doesn't have a diameter mode for any axis other than X.

case 0:
            pos->tran.x = j[0];
            pos->tran.z = j[1];
            pos->v        = 0.5*j[2];
            break;
        case 1:
            pos->tran.x = j[2];
            pos->tran.z = j[1];
            pos->v        = 0.5*j[0];
            break;

• Don't adjust the case 1 X-axis/joint_2 relationship, because X-axis will move at half-distance when in diameter mode.
• DO adjust the case 1 V-axis/joint_0 relationship, because LCNC doesn't have a diameter mode for any axis other than X.

grandixximo wrote:

@PCW
Agreed that an ideal TP should always obey constraints, and the full stop fallback is the correct mechanism to achieve that. No argument there.
The question is whether strict enforcement should be mandatory or an integrator choice. A 20% jerk overshoot on a 1ms grid at a G1 corner is not an unknown uncontrolled violation, it is small, bounded, and predictable, and on drives with internal interpolation the mechanical system never sees it. That is a different situation from the uncontrolled external factors you are rightly warning about.
The practical concern is cycle time. On a complex CAM toolpath with many short segments, mandatory stops at every corner that fails the jerk test could multiply execution time significantly. That is a real regression for integrators who have matched their drive capabilities to their application.
So the proposal is: implement the jerk-aware full stop as an option, off by default to preserve existing behavior, and let integrators who need provably clean command streams or are running drives without internal interpolation opt in. That gives you the mathematically correct behavior when it is needed, without penalizing everyone else.
 

• V-axis/JOINT_3 to be in diameter mode when switchkins is not enabled, and
• X-axis/JOINT_3 to be in diameter mode when switchkins is enabled
• No following error when enabling switchkins
• All programming in G7 mode - switching back and forth between G7/G8 is going to cause my brain to hurt and a crash.