Made a new Pull Request for OpenPnP Advanced Motion Control and documented migration and usage in the Wiki.

Feature List

Advanced Motion Control aims to improve these areas:

• Simpler all-GUI setup of Machine-Axes, Transformed-Axes and their assignment to Nozzles, Cameras etc. (no more machine.xml hacking).
• Making features such as Axis Mapping, Backlash Compensation, Visual Homing, Non-Squareness Compensation etc. available for all types of drivers (formerly just the GcodeDriver).
• Allowing multiple drivers of mixed types.
• Simpler and more unified G-code configuration of axes in (multiple) drivers.
• Better control of speed factors: properly controls the average speed, including acceleration/deceleration phases. A move at 50% takes exactly twice as long, regardles of how short or long the move is. Formerly, just the maximum feed-rate was limited, often having no effect, as it was never reached on short moves.
• Operations at reduced speed factor perform much gentler due to reduced acceleration (and jerk). Improves handling delicate parts, nozzle tip changing, mechanical feeder operation, etc.
• Per axis feed-rate, acceleration (and optionally jerk) limits. Most importantly, this allows separate control of (nozzle) rotation rate limits for higher angular speeds.
• Added jerk control to …
• … reduce vibrations, therefore reduce needed camera settling times but also improve pick and place accuracy.
• … prevent any slipping of parts on the nozzle (for cheap DIY vacuum systems).
• … allow for higher peak acceleration without stalling steppers, improving the speed of long moves.
• Paralellized operation and asynchronous communication between OpenPnP and (multiple) controllers to improve throughput and reduce delays.
• (Experimental) Motion Blending, to improve speed.
• Graphical diagnostics for Motion Planning as a basis for fact based machine optimization.

More information

• Now in OpenPnP 2.0
• Smoothieware users: for some of the new features you need the new firmware (Updated!).
• TinyG users: for some of the new features you need the new firmware.
• Other controllers: see the Firmwares page.
• Read the Pull Requests.

Wiki Documentation

Motion Control

• Advanced Motion Control
• GcodeAsyncDriver
• Motion Planner
• Visual Homing
• Motion Controller Firmwares

Machine Axes

• Machine Axes
• Backlash-Compensation
• Transformed Axes
• Linear Transformed Axes
• Mapping Axes
• Axis Interlock Actuator

General

• Issues and Solutions