[Grbl_Esp32 Issue#757] Max rate for custom machine About GRBL HAL

Issue #757 | 状态: 已关闭 | 作者: JulianS-Uni | 创建时间: 2021-02-08

I am trying to implement control for a Scara machine using your code template for custom machines and custom kinematics. I am trying to figure out how the speed control works with custom kinematics. In the GRBL settings you can set the Max rate for x and y using commands $110 and $111. Do these settings refer to the Max rate of the motors/axis or to a position in the Cartesian coordinate system.

#1 – bdring 于 2021-02-08

The speed in the setting is based on motor speed. The kinematics need to compensate for that. Determine the ratio of how far the move is in real world space vs how far the motors move and apply that to the feed rate.

For example if the real world move is 10mm but the motors have to move 15mm, you would have a 1.5 compensation factor. If your feed rate is 1000mm/min, you would change it to 1500mm/min.

The distances are linear moves, so do the maths using each axis. See the polar coaster for an example.

原始Issue: https://github.com/bdring/Grbl_Esp32/issues/757

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