I am digging around in Visual Studio.
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?
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?
Regarding single or multiple screw maps, do all kinematics functions I need to be creating need to apply to 6 axis?
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?
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.
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?