Topics created by jwilo

@jwilo Divide your M92 steps per mm by 360, then one millimetre of movement will equal 1 degree of rotation; ie

M92 A2.222

Rotational axes are effectively treated the same as linear axes, unless you make use the M584 S parameter to control the feedrate; see section 2.1.2.5 of the NIST GCode standard for how the feedrate is interpreted in this instance: https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=823374

2.1.2.5 Feed Rate
The rate at which the controlled point or the axes move is nominally a steady rate which may be
set by the user. In the Interpreter, the interpretation of the feed rate is as follows unless inverse
time feed rate mode is being used in the RS274/NGC view (see Section 3.5.19). The canonical
machining functions view of feed rate, as described in Section 4.3.5.1, has conditions under which
the set feed rate is applied differently, but none of these is used in the Interpreter.

A. For motion involving one or more of the X, Y, and Z axes (with or without simultaneous
rotational axis motion), the feed rate means length units per minute along the
programmed XYZ path, as if the rotational axes were not moving.

B. For motion of one rotational axis with X, Y, and Z axes not moving, the feed rate means
degrees per minute rotation of the rotational axis.

C. For motion of two or three rotational axes with X, Y, and Z axes not moving, the rate is
applied as follows. Let dA, dB, and dC be the angles in degrees through which the A, B,
and C axes, respectively, must move. Let D = . Conceptually, D is a
measure of total angular motion, using the usual Euclidean metric. Let T be the amount
of time required to move through D degrees at the current feed rate in degrees per
minute. The rotational axes should be moved in coordinated linear motion so that the
elapsed time from the start to the end of the motion is T plus any time required for
acceleration or deceleration.

Ian

Redefine your endstops on the fly?

Could you set up the 'endstop' for the axis being beam A breaking, run until the endstop triggers, then redefine the endstop for the axis to be beam B breaking and run until the endstop triggers.

@jwilo I am currently out of the office but AFAIR it applies to all movement.

@droftarts No problem, thank you!

@gloomyandy said in How are multiple moves 'blended' together?:

It would probably help if you describe what it is you are trying to do and why you need to use H2 moves, it may be possible to achieve what you want in a different way.

I'm not actually trying to achieve anything per se with this question, I Just noticed this behaviour, realised I didn't know the answer and thought I probably should.

@dc42 said in How are multiple moves 'blended' together?:

it's not worth adding code to blend them.

Yes I can't see why you'd need to, it's certain only in homing files that I'm using them.

Thanks all.

@droftarts Thanks Ian, this is really good information - I'll make sure to add that to my reading list.

@dc42 Thanks! I've only been using Duet for a couple of weeks now, but I'm really impressed with what yourself and the team have put together.