KMotion 5 Axis RTCP Settings

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MattBlight
Posts: 1
Joined: Mon Jan 07, 2019 12:05 pm

KMotion 5 Axis RTCP Settings

Post by MattBlight » Mon Jan 07, 2019 12:37 pm

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?

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TomKerekes
Posts: 254
Joined: Mon Dec 04, 2017 1:49 am

Re: KMotion 5 Axis RTCP Settings

Post by TomKerekes » Mon Jan 07, 2019 6:01 pm

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.

NonLinearError.png
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
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Regards,

Tom Kerekes
Dynomotion, Inc.

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