[Bdi4emc-help] Trajectory planner accel limits

Sun Feb 19 02:38:16 CET 2006

>From: Gene Heskett <gene.heskett at verizon.net>
>I don't know if this is a 'datapoint' or not, but I looked at that with
>the halscope in emc2 testing, then looked at the code.  The code
>overshoots the starting positions starting radius of the circle by 1.5
>units, I assume as a chip clearing move possibly.

Thanks, Gene.  I didn't even notice the intentional overshoot.

>Looking at its traces with emc2 testing code, neither the initial move
>nor the reverseing at that point seemed to violate the maxvels set,
>the angle of the approach to the endpoint, there was a small radius
>in the trace as it turned around, then rose at exactly the mirror angle
>to the real starting point before the y motion was started.

That's definitely not the case for me.  Paul seems to have got it -- I'll 
try his suggestion and write back.

>One thing thats not too clear to me is how I should translate the
>halscopes traces into something that would correspond to motion in
>seconds type of data.  The seconds is easy enough, but how does the
>displayed voltage trace translate in motion at the cutter?

I use tkemc/Settings.../Logging..., which can capture a variety of things in 
real units and gnuplot them.

--
Matt