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ok great, will have a look. need to see if there is a way to have that set from system preferences maybe. hmmm

the probe basic atc sim has the macros setup in the config files to be used as a template, have a look at toolchange.ngc and M10 thru M26.ngc in the subroutines folder.

great! glad you got it working. always refer to the sim configs if you get stuck, everything has been done there to test functionality.!

Hi all,

Today was a lucky day. We managed to fix acceleration spikes at the 4-clothoid-spline junctions.
The problem was solved by using a new gauss legendre and minor function updates to the clothoid3d lib.
The iteration for gaussian legendre is now set for a 16 for loop.
We can expand to 32 or 64 loops to even increase accuracy.

Now i changed the back color off halscope to plot a white background as this is nicer for websites and documents
to show pictures.

Below are some halscope results, where motion is passing trough 3d-clothoids. The acceleration spikes on
joint 0 & 1 are gone. This tells us the interpolation off the clothoid is now absolute. And without any numerical errors.
So now the clothoid interpolates just as a line or arc.

This was really a bad situation. Wich is now solved.

 
 
 

Git is updated.

I did not realize that was there. I will look into it. Thank you.

Maybe I didn't mention that clearly enough:
I do not have any hardware, yet. I try to figure out which machine to get without having to run a WindowsPC. The mentioned type of machine happens to be a supplier in my country, which perhaps makes communication and delivery etc. a bit easier.
So It might be an option to buy the mechanical parts incl. the stepper motors without the controller.
Maybe I lack some basic knowledge. As I understand it, "information chain" is like this:
PC -> controller card (in this case the recom. mesa cards) -> motor drivers (as in power electronic) -> physical stepper motors).
If that is right, from what I read here: www.cnc-step.com/wp-content/uploads/2021...ero-4-35A_EN_2.1.pdf
(page 26 ff) it seems controller and power circuit seems to be a all-in-one custom setup.

Yeh, I guess so.