That is easy for trivkin machines, or at least machines that there is a
straight correspondance between axis and joint. In non-trivkin machines what
you are proposing would involve working with the kinematics module, and that is
a completely different issue. It would be really nice to be able to do as you
say, but it is way more complicated.On a sidenote, i don't know why the email
client isn't sending the line breaks.
Lisandro
> To: emc-developers@lists.sourceforge.net
> Date: Fri, 16 Aug 2013 05:50:26 -0600
> From: e...@sandien.com
> Subject: Re: [Emc-developers] Axis velocity limits
>
> that was a good bit of sluthing, and your english is perfectly clear...
>
> Why not just have jog respect each axis limit in tern, and not group
> them by linear and rotational? I have worked on machines where even
> with linear axes the Z was slower and finer than the X/Y. So any limit
> would either be the limit for that axes, or the combined limit of all
> the axes of a given move (assuming that you are trying to jog across two
> or more axes at a time -- say X+Z).
>
> EBo --
>
> On Aug 16 2013 5:35 AM, Lisandro Massera wrote:
> > I have had the same problem. I "fixed" this behaviour by using a
> > little HAL logic. I used a MUX to change the jog speed parameter
> > depending on wether you are jogging a linear o a rotary axis.Now the
> > real fix to the issue. I've studied the code, and the problem (in the
> > case of jogging) is in command.c around line 1423. When it checks for
> > max speed, it compares all the axes speed against a limitvel which is
> > set in the configuration ("MAX_VELOCITY" in the TRAJ section),
> > without
> > differentiating between linear or rotary axes. This is troublesome,
> > since a max speed of 10000mm/min would be normal for a linear axis
> > but
> > 10000°/min is quite a lot for an angular axis (at least for my
> > machine).The solution would be to generate a new parameter in the
> > config ini file, let's call it "MAX_ANGULAR_VELOCITY", and have the
> > code in command.c make a difference between linear and rotary axes. I
> > would be happy to help with the command.c part, but I lack the
> > knowledge to generate a new parameter in the configuration or get it
> > to be in the proper structure.I have also realized that in order to
> > not to break any existing machine or configuration with the changes,
> > we should write the code so that when MAX_ANGULAR_VELOCITY is not
> > defined in the config file, the internal parameter should be set to
> > MAX_VELOCITY.There is a similar issue with accelerations, but they
> > don't generate much problems. For consistency's sake I believe we
> > should deal with both problems.Sorry for my english, I've tried to be
> > as clear as possible.
> > Lisandro
> >> From: bodge...@gmail.com
> >> Date: Fri, 16 Aug 2013 10:19:14 +0100
> >> To: emc-developers@lists.sourceforge.net
> >> Subject: [Emc-developers] Axis velocity limits
> >>
> >> Non-trivial configs again.
> >>
> >> Is the software (in any branch) meant to limit the trajectory speed
> >> to
> >> stay within axis limits during jogs?
> >>
> >> Someone on the forum is using a 5-axis setup adapted from the 5axis
> >> demo.
> >>
> >> He gets a following error on the linear axes when jogging the
> >> rotaries
> >> in World mode.
> >>
> >> To see the issue (or what I think is the issue) you can use the
> >> 5axis
> >> demo config.
> >>
> >> In joint mode jog joint 4 to horizontal.
> >> Switch to world mode.
> >> if it won't let you switch then halcmd setp halui.joint.3.home 1 and
> >> the same for joints 6 and 7.
> >>
> >> If you now jog (continuous) the C axis then everything dances
> >> around
> >> the tool point in a most satisfying way in the Vismach model but a
> >> halmeter on axis.0.velocity-cmd will show it moving much faster than
> >> the axis limit in the INI file.
> >>
> >> Reducing the linear jog speed does slow the rotation.
> >>
> >> The behaviour appears to be the same (or at least similar) in
> >> joints_axes3 even though there was a recent commit that looked like
> >> it
> >> might fix it.
> >>
> >> Are there any workarounds? For example is a wheel-jog expected to
> >> work
> >> better? I am prepared to talk him through switching to JA3, but only
> >> if that is likely to fix something.
> >>
> >> --
> >> atp
> >> If you can't fix it, you don't own it.
> >> http://www.ifixit.com/Manifesto
> >>
> >>
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