Il 13/09/2010 15:00, Andy Pugh ha scritto: > On 13 September 2010 13:27, Spiderdab<77...@tiscali.it> wrote: > > >> ooops.. maybe i've forgot to try to increase that value. so you think >> that with a ferror of something like 20, i can reach lower accelerations >> without errors? >> > I would expect so, but you would need to test it. > > >> other question: why in EMC i can set every single joint acceleration, >> and i can't set the world mode acceleration? or is it possible? >> > The axis acceleration limits are to account for the mechanical limits > of the actuators. They are actually _joint_ limits, you will have one > per motor, despite only having a 3-axis cartesian space. > In your case the physical acceleration limits are likely to be > different depending on the string angles and hence the "apparent" > inertia of the load. I would guess you need to test each motor with > the string as close to horizontal as it will ever get. > > You can't set world-mode acceleration because the assumption is that > in a machine tool you want to get to programmed speed as fast as the > slowest-accelerating axis can manage. I think you are likely to be the > first person ever to want to vary acceleration in world-space in EMC2. > I think it can be useful also for robot arms. if you think about an heavy arm or a robot moving heavy weights, modifing the acceleration and decelerations you can gain precision in motion, and stressing less the mechanics.
------------------------------------------------------------------------------ Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing http://p.sf.net/sfu/novell-sfdev2dev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
