Dynomotion

Group: DynoMotion Message: 8523 From: Tapio Larikka Date: 10/23/2013
Subject: jog to length?
Hi Tom!
 
How would I code a user program that would take in account the accel and jerk with jogging stop?
 
For exmple:
 
I set an axis to jog at 300 counts/sec and I want the move to stop at pos count 900.
How do I calculate the position at which I must set the jog speed to 0 so that axis comes to halt at pos count 900?
(allowing the error caused by delays involved in reading position etc.)
 
Rgds,
Tapio
Group: DynoMotion Message: 8524 From: Tom Kerekes Date: 10/23/2013
Subject: Re: jog to length?
Hi Tapio,

You shouldn't need to do any calculation KFLOP should handle that for you.  You can command the MoveAtVel(0,900,300) from a stop or any time while the Jog is in progress (as long as there is still sufficient distance to stop).

 Regards
TK

Group: DynoMotion Message: 8528 From: Tapio Larikka Date: 10/24/2013
Subject: Re: jog to length?

Hi Tom!
 
It looks that I tried too much to avoid the language barrier, which led to a wrong question so I'll refrase:
 
I'm looking for a way to follow the path of two intersecting  cylinders with one linear and one rotational axis. I need this to be in user program, outside the coord motion since that  is busy doing other stuff.
 
I think I ment: How do I calculate the accel/decel distance so that a series of jog commands with alternating speed would result new speed being in effect at the beginning of the motion segment(?)?
 
instead of:
Jog(0,300) while Pos(0)<=900
Jog(0,200) while Pos(0)<=1200
Jog(0,400) while Pos(0)<=1500
 
I'd like to have
Jog(0,300) while Pos(0)<=900-X
Jog(0,200) while Pos(0)<=1200-X
Jog(0,400) while Pos(0)<=1500-X
so that speed is 200 starting from Pos(0)=900.
 
 
Would two consecutive MoveAtVel commands not result in gap/stop in between?
 
Are the MasterAxis/Slavegain available outside the coordmotion system?
 
Rgds,
Tapio
 
----- Original Message -----
Sent: Thursday, October 24, 2013 1:27 AM
Subject: Re: [DynoMotion] jog to length?

 

Hi Tapio,

You shouldn't need to do any calculation KFLOP should handle that for you.  You can command the MoveAtVel(0,900,300) from a stop or any time while the Jog is in progress (as long as there is still sufficient distance to stop).

 Regards
TK

Group: DynoMotion Message: 8529 From: Tom Kerekes Date: 10/24/2013
Subject: Re: jog to length?
Hi Tapio,

I'm afraid I still don't understand.

Intersecting cylinders?

But anyway yes you can issue a new MoveAtVel before a previous is finished and the motion should blend together smoothly. 

The Master Slave capabilities are independent of Coordinated Motion.  A Slave can follow any axis regardless.

Regards
TK

Group: DynoMotion Message: 8575 From: tapiolarikka Date: 11/5/2013
Subject: Re: jog to length?

Hi Tom!


Intersecting cylinders means two perpendicular pipes.


Are consecutive MoveAtVel commands buffered or does next command override previous?


Rgds,


Tapio



---In DynoMotion@yahoogroups.com, <tk@...> wrote:

Hi Tapio,

I'm afraid I still don't understand.

Intersecting cylinders?

But anyway yes you can issue a new MoveAtVel before a previous is finished and the motion should blend together smoothly. 

The Master Slave capabilities are independent of Coordinated Motion.  A Slave can follow any axis regardless.

Regards
TK

Group: DynoMotion Message: 8577 From: Tom Kerekes Date: 11/5/2013
Subject: Re: jog to length?
Hi Tapio,

The next overrides the previous.  If motion is in progress and a new Move or Jog is commanded, KFLOP will compute a new blended 3rd order trajectory starting at the current position, velocity, and acceleration to go to the new Move position or Jog velocity.

Regards
TK

Group: DynoMotion Message: 8584 From: Tapio Larikka Date: 11/6/2013
Subject: Re: jog to length?

Hi Tom,
 
Is the slavegain similar? meaning overrides previous as soon as executed?
 
Rgds,
Tapio
 
 
----- Original Message -----
Sent: Tuesday, November 05, 2013 11:45 PM
Subject: Re: Re: [DynoMotion] jog to length?

 

Hi Tapio,

The next overrides the previous.  If motion is in progress and a new Move or Jog is commanded, KFLOP will compute a new blended 3rd order trajectory starting at the current position, velocity, and acceleration to go to the new Move position or Jog velocity.

Regards
TK

Group: DynoMotion Message: 8586 From: Tom Kerekes Date: 11/6/2013
Subject: Re: jog to length?
Hi Tapio,

In a way yes.  It has an instantaneous effect overriding any previous value.  The slave gain causes the Slave Destination to change at the amount the master changed multiplied by the Gain.  So you would need to use caution.  For example if the Slave gain was 1.0 and the Master was moving at 10,000 counts/sec, and the Slave Gain was suddenly changed to 2.0, then the Slave would instantly change from moving at 10,000 counts/sec to 20,000 counts/sec which would be likely to cause a stall or fault. 

Regards
TK