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Re: Generating Position Setpoints
Forcing Pos and Vel to the "known" values without setting a known time is probably much of the issue. You're probably getting a way with it at the end of acceleration, but not at the beginning of deceleration. I would recommend making a table of times and positions and speeds, dropping in extra values at the start/end of each phase.
Also, the use of the variable Error is strange. You are ultimately only using it as a special case flag at the start of deceleration; where it is used to set Pos is more easily given as Pos:=Decelpoint;. This should just be a special print statement that is not part of a loop.
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Indianagineers! (n.: In-di-ae-nah-jih-nir: any resident of Gary, Indiana, or it's suburbs, who is trained in the use or design of machines or engines, or in other areas such as electrical or chemical technology) - dlavery [more] 
22-07-2015, 13:47
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