Merge pull request #3746 from grandixximo/master

S-curve jerk control fixes as requested in #3744

Author: andypugh

configs/sim/axis/axis_9axis_scurve.ini

@@ -7,10 +7,14 @@
 # acceleration profiles that can reduce machine vibration and
 # improve surface finish.
 #
-# IMPORTANT: S-curve planning is OPTIONAL and DISABLED by default.
+# IMPORTANT: S-curve planning is OPTIONAL.
 # Traditional trapezoidal acceleration is used when:
 #   - PLANNER_TYPE = 0, OR
-#   - MAX_LINEAR_JERK = 0 (or not specified)
+#   - MAX_LINEAR_JERK = 0
+#
+# NOTE: If MAX_LINEAR_JERK is not specified, it defaults to 1e9 (1 billion),
+# which effectively disables jerk limiting while still using S-curve calculations.
+# This produces motion similar to trapezoidal but not identical.
 #
 # ========================================================
 [EMC]
@@ -64,6 +68,8 @@ PLANNER_TYPE = 1
 # Units: machine-units/second^3 (e.g., mm/s^3 or inch/s^3)
 #
 # Setting this to 0 disables S-curve planning regardless of PLANNER_TYPE
+# If not specified, defaults to 1e9 (effectively no jerk limiting)
+# Maximum allowed value is 1e9 (values above are automatically clamped)
 #
 # Recommended starting values (adjust based on your machine):
 #   - Light/rigid machines: 1000-10000
@@ -75,16 +81,7 @@ PLANNER_TYPE = 1
 #
 # NOTE: This parameter can be changed at RUNTIME via HAL pin:
 #       ini.traj_max_jerk (allows tuning on-the-fly)
-MAX_LINEAR_JERK = 1000.0
-
-# DEFAULT_LINEAR_JERK: Default jerk for programmed feed moves
-# Units: machine-units/second^3
-# Should be <= MAX_LINEAR_JERK
-# Default: 0.0
-#
-# NOTE: This parameter can be changed at RUNTIME via HAL pin:
-#       ini.traj_default_jerk
-DEFAULT_LINEAR_JERK = 500.0
+MAX_LINEAR_JERK = 10000.0
 
 # --------------------------------------------------------
 # Standard TRAJ parameters (still required with S-curve)
@@ -141,91 +138,147 @@ HOME_SEQUENCE = 0
 #
 # This should match or be higher than the trajectory jerk
 # to avoid limiting coordinated motion.
-MAX_JERK = 1000.0
+MAX_JERK = 10000.0
 
 #MIN_LIMIT = -200.0 #disabled to give more space for testing g-codes
 #MAX_LIMIT = 200.0 #disabled to give more space for testing g-codes
 
+# ========================================================
+# HOMING CONFIGURATION FOR S-CURVE
+# ========================================================
+# WARNING: When using S-curve motion (PLANNER_TYPE=1), you MUST set
+# HOME_SEARCH_VEL and HOME_LATCH_VEL significantly SLOWER than you
+# would with trapezoidal motion planning.
+#
+# S-curve motion requires MORE DISTANCE to decelerate due to the
+# jerk-limited acceleration profile. If homing velocities are too
+# high, the axis may overshoot and hit hard limits or sensor limits.
+#
+# RECOMMENDED: Start with 50% or less of the velocities you would
+# use with trapezoidal planning, then increase cautiously.
+#
+# Example homing configuration (adjust for your machine):
+#HOME_SEARCH_VEL = 5.0       # Velocity for initial limit switch search
+#HOME_LATCH_VEL = 1.0        # Velocity for precise homing (slower)
+#HOME_OFFSET = 0.0           # Distance from switch to home position
+#HOME_USE_INDEX = NO         # Use encoder index pulse for homing
+#HOME_IGNORE_LIMITS = NO     # Ignore limit switches during homing move
+# ========================================================
+
 [JOINT_1]
 TYPE = LINEAR
 HOME = 0.0
 MAX_VELOCITY = 300.0
 MAX_ACCELERATION = 1000.0
-MAX_JERK = 1000.0
+MAX_JERK = 10000.0
 #MIN_LIMIT = -200.0 #disabled to give more space for testing g-codes
 #MAX_LIMIT = 200.0 #disabled to give more space for testing g-codes
 HOME_SEQUENCE = 0
 
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+# See JOINT_0 for detailed homing configuration examples.
+#HOME_SEARCH_VEL = 5.0
+#HOME_LATCH_VEL = 1.0
+
 [JOINT_2]
 TYPE = LINEAR
 HOME = 0.0
 MAX_VELOCITY = 200.0
 MAX_ACCELERATION = 800.0
-MAX_JERK = 800.0
+MAX_JERK = 10000.0
 #MIN_LIMIT = -100.0 #disabled to give more space for testing g-codes
 #MAX_LIMIT = 100.0 #disabled to give more space for testing g-codes
 HOME_SEQUENCE = 0
 
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+# See JOINT_0 for detailed homing configuration examples.
+#HOME_SEARCH_VEL = 4.0
+#HOME_LATCH_VEL = 0.8
+
 [JOINT_3]
 TYPE = ANGULAR
 HOME = 0.0
 MAX_VELOCITY = 180.0
 MAX_ACCELERATION = 600.0
-MAX_JERK = 600.0
+MAX_JERK = 10000.0
 #MIN_LIMIT = -360.0
 #MAX_LIMIT = 360.0
 HOME_SEQUENCE = 0
 
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+#HOME_SEARCH_VEL = 3.0
+#HOME_LATCH_VEL = 0.6
+
 [JOINT_4]
 TYPE = ANGULAR
 HOME = 0.0
 MAX_VELOCITY = 180.0
 MAX_ACCELERATION = 600.0
-MAX_JERK = 600.0
+MAX_JERK = 10000.0
 #MIN_LIMIT = -360.0
 #MAX_LIMIT = 360.0
 HOME_SEQUENCE = 0
 
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+#HOME_SEARCH_VEL = 3.0
+#HOME_LATCH_VEL = 0.6
+
 [JOINT_5]
 TYPE = ANGULAR
 HOME = 0.0
 MAX_VELOCITY = 180.0
 MAX_ACCELERATION = 600.0
-MAX_JERK = 600.0
+MAX_JERK = 10000.0
 #MIN_LIMIT = -360.0
 #MAX_LIMIT = 360.0
 HOME_SEQUENCE = 0
 
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+#HOME_SEARCH_VEL = 3.0
+#HOME_LATCH_VEL = 0.6
+
 [JOINT_6]
 TYPE = LINEAR
 HOME = 0.0
 MAX_VELOCITY = 300.0
 MAX_ACCELERATION = 1000.0
-MAX_JERK = 1000.0
+MAX_JERK = 10000.0
 #MIN_LIMIT = -200.0
 #MAX_LIMIT = 200.0
 HOME_SEQUENCE = 0
 
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+#HOME_SEARCH_VEL = 5.0
+#HOME_LATCH_VEL = 1.0
+
 [JOINT_7]
 TYPE = LINEAR
 HOME = 0.0
 MAX_VELOCITY = 300.0
 MAX_ACCELERATION = 1000.0
-MAX_JERK = 1000.0
+MAX_JERK = 10000.0
 #MIN_LIMIT = -200.0
 #MAX_LIMIT = 200.0
 HOME_SEQUENCE = 0
 
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+#HOME_SEARCH_VEL = 5.0
+#HOME_LATCH_VEL = 1.0
+
 [JOINT_8]
 TYPE = LINEAR
 HOME = 0.0
 MAX_VELOCITY = 200.0
 MAX_ACCELERATION = 800.0
-MAX_JERK = 800.0
+MAX_JERK = 10000.0
 #MIN_LIMIT = -100.0
 #MAX_LIMIT = 100.0
 HOME_SEQUENCE = 0
 
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+#HOME_SEARCH_VEL = 4.0
+#HOME_LATCH_VEL = 0.8
+
 # ========================================================
 # AXIS CONFIGURATION
 # ========================================================
@@ -239,63 +292,63 @@ MAX_ACCELERATION = 1000.0
 # MAX_JERK: Maximum jerk for coordinated motion on this axis
 # Units: machine-units/second^3
 # Default: 0.0 (disabled)
-MAX_JERK = 1000.0
+MAX_JERK = 10000.0
 
 [AXIS_Y]
 #MIN_LIMIT = -200.0 #disabled to give more space for testing g-codes
 #MAX_LIMIT = 200.0 #disabled to give more space for testing g-codes
 MAX_VELOCITY = 300.0
 MAX_ACCELERATION = 1000.0
-MAX_JERK = 1000.0
+MAX_JERK = 10000.0
 
 [AXIS_Z]
 #MIN_LIMIT = -100.0 #disabled to give more space for testing g-codes
 #MAX_LIMIT = 100.0 #disabled to give more space for testing g-codes
 MAX_VELOCITY = 200.0
 MAX_ACCELERATION = 800.0
-MAX_JERK = 800.0
+MAX_JERK = 10000.0
 
 [AXIS_A]
 #MIN_LIMIT = -360.0
 #MAX_LIMIT = 360.0
 MAX_VELOCITY = 180.0
 MAX_ACCELERATION = 600.0
-MAX_JERK = 600.0
+MAX_JERK = 10000.0
 
 [AXIS_B]
 #MIN_LIMIT = -360.0
 #MAX_LIMIT = 360.0
 MAX_VELOCITY = 180.0
 MAX_ACCELERATION = 600.0
-MAX_JERK = 600.0
+MAX_JERK = 10000.0
 
 [AXIS_C]
 #MIN_LIMIT = -360.0
 #MAX_LIMIT = 360.0
 MAX_VELOCITY = 180.0
 MAX_ACCELERATION = 600.0
-MAX_JERK = 600.0
+MAX_JERK = 10000.0
 
 [AXIS_U]
 #MIN_LIMIT = -200.0
 #MAX_LIMIT = 200.0
 MAX_VELOCITY = 300.0
 MAX_ACCELERATION = 1000.0
-MAX_JERK = 1000.0
+MAX_JERK = 10000.0
 
 [AXIS_V]
 #MIN_LIMIT = -200.0
 #MAX_LIMIT = 200.0
 MAX_VELOCITY = 300.0
 MAX_ACCELERATION = 1000.0
-MAX_JERK = 1000.0
+MAX_JERK = 10000.0
 
 [AXIS_W]
 #MIN_LIMIT = -100.0
 #MAX_LIMIT = 100.0
 MAX_VELOCITY = 200.0
 MAX_ACCELERATION = 800.0
-MAX_JERK = 800.0
+MAX_JERK = 10000.0
 
 # ========================================================
 # TUNING GUIDELINES