[Bdi4emc-help] Trajectory planner accel limits

Sat Feb 18 21:12:27 CET 2006

In my .ini, I have all of the acceleration parameters set to the same value, 
but these limits seem to be selectively violated by the trajectory planner.

Using the bbxy.ngc file that ships with BDI, I plot the commanded X-axis 
velocity as the program finishes its initial X-axis move and turns 90 
degrees to start the circle.

At this corner the X-axis overshoot is first reversed by accelerating at 
about *twice* my set limits.  Then, it decelerates at the set limit to stop 
on the commanded position.

Does anyone know under what conditions the trajectory planner will violate 
the accel limits in the .ini file, and by exactly how much?  If you could 
point me to the place in the code where this decision is made, that would be 
helpful.

Thanks,

Matt