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| author | Robert W. Ellenberg <rwe24g@gmail.com> | 2014-06-11 10:37:55 -0400 |
|---|---|---|
| committer | Chris Radek <chris@timeguy.com> | 2014-06-11 14:44:18 -0500 |
| commit | 309aa9785c7d996762e76a28099e9780afe84b21 (patch) | |
| tree | 5d98a31c8aa59a26c85f4a19223665b2399ba748 | |
| parent | db3d12b8da2790671c50ed1d37fc1d766add787f (diff) | |
| download | linuxcnc-309aa9785c7d996762e76a28099e9780afe84b21.tar.gz linuxcnc-309aa9785c7d996762e76a28099e9780afe84b21.zip | |
Fix for F-word limit in position sync
| -rw-r--r-- | src/emc/tp/tp.c | 22 | ||||
| -rw-r--r-- | tests/trajectory-planner/circular-arcs/nc_files/spindle/g33_simple.ngc | 2 |
2 files changed, 17 insertions, 7 deletions
diff --git a/src/emc/tp/tp.c b/src/emc/tp/tp.c index 9406d2467..5b6c1387d 100644 --- a/src/emc/tp/tp.c +++ b/src/emc/tp/tp.c @@ -201,7 +201,13 @@ STATIC double tpGetFeedScale(TP_STRUCT const * const tp, STATIC inline double tpGetRealTargetVel(TP_STRUCT const * const tp, TC_STRUCT const * const tc) { double v_max = tpGetMaxTargetVel(tp, tc); - return fmin(tc->reqvel * tpGetFeedScale(tp,tc), v_max); + double v_target; + if (!tcPureRotaryCheck(tc) && (tc->synchronized != TC_SYNC_POSITION)){ + v_target = fmin(tc->reqvel * tpGetFeedScale(tp,tc), v_max); + } else { + v_target = v_max; + } + return v_target; } @@ -210,14 +216,17 @@ STATIC inline double tpGetRealTargetVel(TP_STRUCT const * const tp, */ STATIC inline double tpGetMaxTargetVel(TP_STRUCT const * const tp, TC_STRUCT const * const tc) { // Get maximum reachable velocity from max feed override - double v_max_target = tc->target_vel * emcmotConfig->maxFeedScale; - // Clip maximum velocity by tc maxvel - double v_max = fmin(v_max_target, tc->maxvel); - + double v_max_target; // Check if vLimit applies if (!tcPureRotaryCheck(tc) && (tc->synchronized != TC_SYNC_POSITION)){ - sat_inplace(&v_max, tp->vLimit); + v_max_target = tp->vLimit; + } else { + v_max_target = tc->target_vel * emcmotConfig->maxFeedScale; } + + // Clip maximum velocity by tc maxvel + double v_max = fmin(v_max_target, tc->maxvel); + return v_max; } @@ -1889,6 +1898,7 @@ STATIC int tpComputeBlendVelocity(TP_STRUCT const * const tp, if (!planning) { tc->blend_vel = v_blend_this; nexttc->blend_vel = v_blend_next; + tp_debug_print("v_blend_this = %f, v_blend_next = %f\n",v_blend_this,v_blend_next); } return TP_ERR_OK; } diff --git a/tests/trajectory-planner/circular-arcs/nc_files/spindle/g33_simple.ngc b/tests/trajectory-planner/circular-arcs/nc_files/spindle/g33_simple.ngc index fb9336ab3..bfd2ca575 100644 --- a/tests/trajectory-planner/circular-arcs/nc_files/spindle/g33_simple.ngc +++ b/tests/trajectory-planner/circular-arcs/nc_files/spindle/g33_simple.ngc @@ -1,6 +1,6 @@ G90 G20 G64 (absolute distance mode) G0 X1 Z0.1 (rapid to position) -S100 M3 (start spindle turning) +S200 M3 (start spindle turning) G33 Z-2 K0.025 G0 X1.25 (rapid move tool away from work) Z0.1 (rapid move to starting Z position) |