Vector Stop
Intent: Better behavior of 3D objects when executing stops
Problem: EStop causes lines to go out of normalization, inducing worse hazards with uneven loading
Proposed Solution: When axes are being controlled by space device object, anything causing a stop on one or more axes should trigger the space object to decelerate and stop, instead of triggering Hard stops on the individual axes.
Notes:
Problem: EStop causes lines to go out of normalization, inducing worse hazards with uneven loading
Proposed Solution: When axes are being controlled by space device object, anything causing a stop on one or more axes should trigger the space object to decelerate and stop, instead of triggering Hard stops on the individual axes.
Notes:
- When operated normally with axis commands, axis device should command its own Hard Stop as normal.
- This feature will not affect safety code configuration -- it will continue to drop safe outs after fixed delay.
- Similar to normal behavior, if the space object decelerates to zero speed in less than maximum time, brakes should be commanded off before Cat-1 timeout.
- "Vector Stop" shall be executed whenever axes are under space control - i.e. Wizard, Cues, Profiles, Jogging...
- "Vector Stop" shall be executed regardless of stop source -- i.e. Wizard, Player, Axis Stop, EStop. (Note that Wizard and Player soft stop commands already behave this way)
- Preferred behavior would be to decelerate along profile, however a 2nd best alternate would be to decelerate along current motion vector.
- Cat-0 stops not being considered - future state of axis groups with ESA4 expected to be correct behavior.
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My only other suggestion would be that that there is an option for each lace attachment object in the Motion Params, General Params-> Stop Params section called "Cat-1 E-Stop Mode" with the options "Object Hard Stop Following Path" (default) and "Axis Hard Stop Individually" so the user can switch back to the old mode if it is advantageous for a specific situation.
Also, for clarity, the object should use its "Hard Stop DCC" parameter for the stopping DCC along the path.2 -
Big driving factor for this request is the upcoming #### fly rig, which will start rehearsing in May. Ideally we'd be able to have this function and validate behavior before anyone is flying on it.
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