Dynomotion Forum

I've just done some upgrades to my 4th & 5th Axes, resulting in a change of my PivotToChuckLength, and whilst re-visiting the code to make the change, I noticed some settings that I can't remember what were for exactly, and I can't find with a Google search.

m_MotionParams.MaxLinearLength = 0.05; // limit the segment lengths for nonlinear systems
m_MotionParams.MaxAngularChange = 0.5; // limit the segment angle change for nonlinear systems

Are these in inches and degrees? What is their impact on interpreting GCODE?

Hi MattBlight,

Yes those are in units of inches and degrees respectively.

Kinematics are only performed on the endpoints of segments and a linear relationship is used as an approximation in between. Below is an example of pure angular motion with MaxAngularChange of 0.5 degrees and tool tip to gimbal pivot of 6 inches. In this example there wouldn't be any Z motion along the segment, where ideally Z should follow the curved path. The error in this case would be 0.22 milli-inches.

The trade off is between accurately following the nonlinear path and the number of motion segments generated. KFLOP can process approximately 2000 motion segments/second. So with segments of 0.5 degrees speed of rotation would be limited to about 1000 degrees/sec.

HTH