scurve trajectory planner

Dear linuxcnc users,

There is developped a new trajectory planner with help of several forum members over the past weeks.

- Credits : Joco, Lcevette, Turboss, Linuxcnc8, connor, Grotius, and more.

The new planner is called tpmod_scurve.so

This new planner can be installed alongside the original trajectory planner tpmod.so
by specifying the used planner in the config .ini file.

Existing linuxcnc (RIP) installations can be patched using a small script that replaces a few files.
There is no .deb package patch available.

This codebase uses miminal source code to achieve an S-curve motion profile. No heavy dependencies are required.
Note there are several HAL pins and parameters that must be set at runtime to tune a specific machine to its inertia limits.

Important: Alway's exersise caution using new software, especially on high-speed machining operations.

repository
readme
licence  
disclaimer

Automated installation example:

Grotius,
A big thank you for working on this hard problem.
My offer for sending you EtherCAT servo and stepper drives still stands. Let me know. I have 400W and 750W 3000rpm chinese servos and 4.5A chinese steppers with EtherCAT available which I can send out to you.

The repository downloaded and compiled ok using the "installer" script.
S curve tpmod was also running properly.
But it looked like it was falling back to a single block lookahead.
Is lookahead implemented in this new planner? If yes, how can I enable it? What are the settings that I can play with?
I tried with G64 Pxx Qyy but that did not seem to have too much effect.

I tried to work with the tpmod hal params without much change to the output. I was trying the G3 to G3 blends in the standard LINUXCNC startup gcode.

Once again a big thank you for working on this problem.
-automata

Hi Automata,

I can use the servo's if they are powered 230volts. Then they can be used to finish and test ethercat auto installer. And runtime tests.
My mail : michelwijnja@gmail.com

For the planner. If you program a square 100x100mm and use G64 P5
It should show blended corners at runtime.
Works also for G3 to G3.

Awesome Grotius, I plan on installing and testing on machine this week! Super excited to do some comparisons between previous known rough motion programs and show the difference. I will get some good video footage to share!

@Lcvette,

Looking forward to see your video.


 

spotted a typo - misspelled "lenght" instead of "length" in multiple places..

Wow! What can I say.
Today I "install" it. Thanks to your good work it was a piece of cake (and I am a linux noob btw.).

Tested the given sim machine and everything worked out well. Cant wait to test it on real machines.

Can we just hold on a minute and realise what Grotius did! What an amazing, not to say limit breaking, work he did. Well, well done Grotius!

Thank you for your work for the community.

Ohhhh sorry! I am just overwhelmed.

I want to thank all you other guys who helped with this also! Well done. Great community!

juliankoenig87 wrote:

Can we just hold on a minute and realise what Grotius did! What an amazing, not to say limit breaking, work he did. Well, well done Grotius!

At the risk of repeating myself:
Grotius is like a heat seeking missile, he locks on to something and does not stop!
Thank you Grotius.

Hi Guy's,

@Tommy @juliankoenig87
Thank you all for kind words.

I think the scurve planner also works on plasmac now, As Joco solved this.

I am very curious to the video off Lcvette. He has a nice machine to test it.

@dm17ry, Fixed the typo, thanks for reporting.