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Kinematics Period problem.
#4
It should be emphasized that the inverse kinematic routine executes on the input to the segment buffer, not on the output. The input is always several segments ahead of the move execution from the output of the buffer, so if the kinematic subroutine is used to set outputs (like a laser on or off), it will not be synchronous with the execution of the motion segment calculated that cycle.

If buffered lookahead is active, the difference between input to the buffer and output from the buffer can be very many segments.

So even if the kinematics routine were called at even intervals, a commanded output would not be synchronous with the execution of the segment.

Any kinematic routine that is trying to set outputs synchronous with the execution of segments must recognize this delay and compensate for it.
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Messages In This Thread
Kinematics Period problem. - choiminhwan - 07-29-2021, 04:51 AM
RE: Kinematics Period problem. - Richard - 07-30-2021, 01:37 PM
RE: Kinematics Period problem. - hjpark - 08-03-2021, 12:05 AM
RE: Kinematics Period problem. - curtwilson - 08-26-2021, 02:07 PM

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