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troy wrote:

I have verified that the solution is feasible.

This can be a development direction of linuxcnc in the future, I am very willing to participate in it, If the development thread starts.

Hello troy!
We need you to share your code so that it can be improved and hopefully merged back in LinuxCNC. Is there any chance that you could publish it in any way?

Hi Grotius,

thanks for all the work you have put into this project to bring s curves to LinuxCNC. That's a really impressive achievement. Julian told me about your work.

I have not yet managed to work through all the papers in detail which you have linked so I might be a little bit underinformed but your definition of your torsion for 3D clothoids seems to be a bit unusual (or I don't understand it).

Is your intention like this?
theta0 & kappa0 -> xy => kappa0 = curvature
theta1 & kappa1 -> z => kappa1 = torsion for the 3D case

This would fit to your first approach to extend a clothoid to 3D by simply adding a second clothoid to the z dimension (which does not result in a curve with perfect curvature and torsion transition but probably way better than before). However, this is not how curvature and torsion of a 3D curve are defined in general so it will not fit to the 3D clothoid description in the Frego paper.

Best regards,
Fabian

Flex GUI might be just what you need.
gnipsel.com/linuxcnc/flexgui/index.html

JT

So after throwing my ethercat stuff in the corner in disgust for six months or so ago, I pulled it out and finally fixed it!

I reset the drive to factory defaults by adding this into my xml filePowered up Linuxcnc, homed the drive and tried to move it which sounded awful, then unplugged the power supply to the ECT60 ethercat drive.
Closed Linuxcnc and deleted that code from the XML file.

Hey presto running as smooth as a baby's bum!

The manual says 
Sub-index of object dictionary 0x1011: 01 Write 1, and then power on again to restore the driver to the factory state. When restoring the factory setting, first stop the motor running, then save the parameters. Thats roughly what I did!

So for the time being I have shelved this idea. It turns out to be vastly more complex then
I had envisioned. The problems I had come across ,
1 Having to purge the inner chamber of all Oxygen while doing the job,
2 Making sure the components where sealed against dust and make sure no risk
of spark,
3 Metal dust inhalation hazard when the machine would be opened back to the atmosphere,
4 Post process handling of said metal dust still in the part.
5 Cost of consumables ( inert gas, powdered metals, filters, ECT)
And lastly not enough demand for that process for the amount of hassle it implied.
Oh well. It was an interesting idea.