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• INI
  • V-axis
    • change HOME/HOME_OFFSET to "0" (to match X-axis/Joint0)
  • X-axis
    • add min/max limit entries for switched state
    • add max_vel & max_accel for switched state
  • Remap M-codes
  • [KINS]
    • KINEMATICS = parting_slide (yes/no?)
• M-CODES
  • M300 - normal mode;  set #<kinstype> = 0, call M100
  • M301 - switched mode;  set #<kinstype> = 1, call M101
  • M100 - set V-axis min/max limits and vel/accel to normal
  • M101 - set V-axis min/max limits and vel/accel to switched values
• HAL
  • net KINSTYPE-SEL <= motion.analog-out-01 => motion.switchkins-type
  • (analog-out-01 verified to be free)
• COMPONENT
  • parting_slide.comp created from millturn.comp.
  • substituted @Aciera's suggested edits and added comments
  • compile/install
• OPTIONAL?
  • Add G53 G0 V0 initial move to M301 so V and X are both at "0" before switching anything
  • Some sort of safety so joint0 jogging is inhibited when switched?  Don't want to accidentally jog joint0 (actual X) when sub-spindle is clamped on to a part.
    • I will probably also add an X jog-inhibit to my spindle/sub synch sequence.
  • Some sort of safety so everything switches to normal on an abort/estop/similar

1. I won't need new stepgen settings when switch is active because I'll be commanding the X-axis - which is now joint3.  And nothing about joint3 will have changed.  Millturn example M128/129 only changed the axis settings, not the joint settings.
2. I won't need the G10 home offsets adjustments in the millturn example since I will be setting V and X home to 0.

• Is the INI [KINS] change, along with HAL file loadrt [KINS]... what calls up parting_slide.comp?
• what connects motion.switchkins-type to the Case0/Case1 settings in parting_slide.comp?

endian wrote:

Yes Rod .. it is solution but it is creating constant delay between control position -> DFIR -> current position of tool ....
 
It will not add any delay as it should be applied as the acceleration is calculated or read per servo cycle. Just not sure how you need to use it. 
the size of the buffer is configurable.
Any other published moving average solution wanted to use loops which are a source of delay so I devised this..
One of the cleverest algorithms I have ever coded...
 
 

OPTIMIZATION_DEPTH... this creates real mess

ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 1
ARC_BLEND_OPTIMIZATION_DEPTH = 8
ARC_BLEND_RAMP_FREQ = 64
ARC_BLEND_GAP_CYCLES = 64
TC_QUEUE_SIZE = 200

Why does X has a 'tran' and V doesn't?

Is this the part of the component/programming that changes the position of the joints?:

More specifically, when the kinematics switch is made is the above what causes the X and V axes DRO's to switch?

switch (switchkins_type) {
        case 0:
....
        case 1:
....
    }

HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type