On 09/21/2011 09:46 AM, Tom Easterday wrote: > I am using 2.4.6 with Grantrykins config to drive a gantry machine with 2 > motors on the Y axis. I have tuned the machine and it seems to run fine, > almost... Using MDI, I can command any position at speed up to about > 3300ipm. Or, I can run ngc programs to exercise the gantry all day long. > However…. > > 1) If I go into Axis' Manual Control tab (in World Mode), and try to jog via > keyboard keys I can only do that if Jog Speed is<588 for X/Z axis, and<488 > for Y axis. Anything above those speeds and I get an immediate following > error and fault. If I go into Joint Mode (while staying in Manual Control > tab) I can jog X/Z at any speed. I can also jog Y (probably at any speed), > but in joint mode it would rack badly.
This paragraph raises two issues: 1a) Jogging in Axis' Manual Control tab in World mode (aka Teleop mode) only works at lower speeds. 1b) Jogging in Axis' Manual Control tab in Joint mode (aka Free mode) works for X & Z at any speed, but racks the gantry. I haven't looked at 1a yet, but it sounds like maybe it's something to do with accel or vel limits of the joints themselves, vs the limits of the trajectory planner? I'm not really sure. I do know what's wrong with 1b: Joint-mode jogging of gantry machines doesn't work at all. In joint mode (aka Free mode), each joint is individually controlled, without any coordination with other joints. Thus the two joints that make up the gantry's axis of motion will jog independently, and the gantry will rack. Gantry machines need to be homed in joint mode, same as all machines. And the gantry joints better have the same [AXIS_n]HOME_SEQUENCE! But then they must be jogged in world mode (aka Teleop mode) only. Don't jog gantries in joint mode or you'll rack! -- Sebastian Kuzminsky ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity and more. Splunk takes this data and makes sense of it. Business sense. IT sense. Common sense. http://p.sf.net/sfu/splunk-d2dcopy1 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
