single-axis trajectory planning question
07 May 2022 10:52 #242226
by zhuck
single-axis trajectory planning question was created by zhuck
Hello everyone:
Project needs to support two application scenarios as follows:
1. Multi-axis interpolate independently at different speeds and move at the same time.
2. Each axis can perform trajectory planning independently, without affecting each other.
For example G code:
G01 X10 F100
G01 Y20 F50
Expect XY axis to be able to move at the same time at the set speed
Questions are as follows:
How to implement single-axis trajectory planning in the trajectory planning module, I need everyone's help, thank you!
Project needs to support two application scenarios as follows:
1. Multi-axis interpolate independently at different speeds and move at the same time.
2. Each axis can perform trajectory planning independently, without affecting each other.
For example G code:
G01 X10 F100
G01 Y20 F50
Expect XY axis to be able to move at the same time at the set speed
Questions are as follows:
How to implement single-axis trajectory planning in the trajectory planning module, I need everyone's help, thank you!
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09 May 2022 00:33 #242337
by andypugh
Replied by andypugh on topic single-axis trajectory planning question
Have a look at simple-tp and extrajoints.
linuxcnc.org/docs/stable/html/man/man9/simple_tp.9.html
However, the G-code you show will not have the affect you need. G-code only executes a line when the previous line has completed.
There are ways round this. Would it be acceptable for the G-code to be:
M100 P0 Q100
M100 P1 Q50
?
linuxcnc.org/docs/stable/html/man/man9/simple_tp.9.html
However, the G-code you show will not have the affect you need. G-code only executes a line when the previous line has completed.
There are ways round this. Would it be acceptable for the G-code to be:
M100 P0 Q100
M100 P1 Q50
?
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09 May 2022 03:03 #242345
by zhuck
Replied by zhuck on topic single-axis trajectory planning question
hello This is a great idea
User-defined code M100,.
if M100 and G01 exist at the same time, can it achieve the purpose of N30, N40 program line?
;XY axis can move at the same time
N10 M100 P0 S10 Q50
N20 M100 P1 S20 Q100
;N30, N40 expect that after both N10 and N20 move in place, the Z and U axes will be executed in sequence;
N30 G01 Z10 F100
N40 G01 U10 F100
...
M2
If N30 and N40 cannot meet the demand, my idea is to use M100, and add a motion waiting and non-waiting in M100, which can support simultaneous motion and axis sequential motion.
Looking forward to your suggestions.
User-defined code M100,.
if M100 and G01 exist at the same time, can it achieve the purpose of N30, N40 program line?
;XY axis can move at the same time
N10 M100 P0 S10 Q50
N20 M100 P1 S20 Q100
;N30, N40 expect that after both N10 and N20 move in place, the Z and U axes will be executed in sequence;
N30 G01 Z10 F100
N40 G01 U10 F100
...
M2
If N30 and N40 cannot meet the demand, my idea is to use M100, and add a motion waiting and non-waiting in M100, which can support simultaneous motion and axis sequential motion.
Looking forward to your suggestions.
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09 May 2022 10:33 #242370
by andypugh
Replied by andypugh on topic single-axis trajectory planning question
To start one axis, then move the other and wait you would
M100
G1
To start two axes, then wait for the third:
M100
M100
G1
You should be able to create (for example) M100 as a move-no-wait and M101 as a move-and-wait. Though waiting for motion to complete by polling in a while-loop in a bash script isn't a very elegant solution. Using G1 / G0 is probably better.
If you need more complex motion, then I would look at modifying simple_tp (or limit3, which does much the same thing) to add a position feedback timeout (or whatever else it takes to detect failure) that then set HAL pins that the running G-code can check for. In the same was as the probe codes return success or failure.
M100
G1
To start two axes, then wait for the third:
M100
M100
G1
You should be able to create (for example) M100 as a move-no-wait and M101 as a move-and-wait. Though waiting for motion to complete by polling in a while-loop in a bash script isn't a very elegant solution. Using G1 / G0 is probably better.
If you need more complex motion, then I would look at modifying simple_tp (or limit3, which does much the same thing) to add a position feedback timeout (or whatever else it takes to detect failure) that then set HAL pins that the running G-code can check for. In the same was as the probe codes return success or failure.
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