Moderators: TomKerekes, dynomotion
yesShould I be working with version 4.35f?
I would put in the table the motor positions that would put the axis at the theoretical position based on the scale.what will be better, to gather the position of the screw/motor encoder at the increments I have chosen then the true position from the scale, or move the screw/motor until reached the true scale position of the desired increments then gather the current motor position?
I was thinking the same. For example, if I was looking for mapping every inch, I will move the axis until the scale reads a true inch, then write the current axis position and the inch value from the scale.I would put in the table the motor positions that would put the axis at the theoretical position based on the scale.
It depends how you write your code. Normally GeoCorrection is performed before kinematics.Something I see, or think I see, is concerning. My intent is to be able to apply kinematics of individual actuators to provide screw mapping while later, as needed, use the Geo Table for fiduciary type adjustments. Essentially, I assumed the system would blend the two corrections magically with a bit of pixy dust and unicorn farts to give me a smooth and accurate output. Some of what I see gives me concern it is more the situation where it will be either kinematics or geo table. I am hoping I simply am not reading or understanding far enough into the kinematics examples to see where they both do apply together. Can you please confirm do both will work at the same time?
No checks are performed by the Geo Correction. The outside grid points are extrapolated outward to infinity.While testing my measured values in a 2x49 geo table, I had screwed up and it tried to move a large distance faster than the servos could run. Is there not any protection built into the geo table correction that considers if it will be running into follow error territory and issue an idiot check to the operator?
Not sure what you mean but basically no. Unused axes not in the Coordinated System don't matterRegarding single or multiple screw maps, do all kinematics functions I need to be creating need to apply to 6 axis?
Again you could do things however you like. The only disadvantage to that I can see is if a file gets missing or corrupted then no corrections will be made rather than reporting an error.In my 4 axis case (not currently running the 4th but will someday), where I am only currently needing to map X and Y, not Z or A, would it work correctly to have the function look for and import my individual axis map files, then only return corrected values for X and Y (or for only whichever files are existing or valid) while simply returning the original parameters back to z,a,b,and c?In my 4 axis case (not currently running the 4th but will someday), where I am only currently needing to map X and Y, not Z or A, would it work correctly to have the function look for and import my individual axis map files, then only return corrected values for X and Y (or for only whichever files are existing or valid) while simply returning the original parameters back to z,a,b,and c?
There are existing examples of embedding parameters into the Kinematics.txt file. You might include MaxLinearLength.For the adjustment of "m_MotionParams.MaxLinearLength" to match the mapping increments, I am thinking through my options that will allow for updates and recalibration later without rebuilding kmotion files. Right now, I am considering the following options:
A configuration file to break out some of the params and have them all read in.
Add the "m_MotionParams.MaxLinearLength" value in the top of the screw map file then compare all found axis screw map files for which has the shortest length and set that as active.
Have the screw map file import/read process keep track of the increments used then set the shortest active.
I would just use a small constant value. This will simplify the interpolation otherwise some sort of searching may be necessary and the amount of memory you would save would be insignificant.Hypothetical, as I consider a flexible config... If I had a 50" screw that needed mapping every 1/2" for the first 10," then is accurate until 30" to 40" where 1" increments min are needed, then good for the remainder of the screw, would the best control approach be to apply increments of 1/2" over the full length or create a variable increment version of kinematic?
I had sort of expected to need the extra params in a different file. More than happy to keep with how you have had it done before. I have been looking for format examples of the "Kinematics.txt" file but seem to be overlooking them. Other than a single string of the kinematics name, what else is in there and which example illustrates extra params?There are existing examples of embedding parameters into the Kinematics.txt file. You might include MaxLinearLength.
Nothing profound. Looks like max error could be reduced by about half with some slight scaling, but at the expense of making the center sweet area worse.Did you have any comments about the mapping results I posted prior?
I believe that should work.I am unclear what, if anything, I need to do to the "inversion" function "TransformActuatorstoCAD." Do I just re-use the existing as in the 3rod?
See the GetParameter() function and how it is used in CKinematics5AxisTableAB. ie:I had sort of expected to need the extra params in a different file. More than happy to keep with how you have had it done before. I have been looking for format examples of the "Kinematics.txt" file but seem to be overlooking them. Other than a single string of the kinematics name, what else is in there and which example illustrates extra params?