ANNIN ROBOTICS

Hello Chris...Thanks for the reply. I was thinking that the commands can be sent out to a buffer and then shuffle them out in a FIFO. I have done a lot of work with KUKA's MxAutomation in the past and this has worked ok for me. This scheme is not exactly a look ahead as it does not take into account the complete trajectory of multiple commands and the associated trapezoid or s curve acceleration/de-acceleration of each command but it does help smooth out the stop and starts. I was wondering if a look at the GRBL code would provide a look into how they have done it. Thanks for a great project...

I would think that the Arduino Due would be a good solution to the processor speed issue. The 3.3 V can possible be addressed with a 3.3V/5V logic gate optocoupler. I know that this would add cost and complexity to the system but it would also give you high noise immunity. Any thoughts?

In the mean time I could use Clearpath servos...not exactly positional feedback but it does offer a stopgap solution to lost steps and position hold. Thanks for the reply...