On Sep 27, 2011, at 6:51 PM, Sebastian Kuzminsky wrote: > 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.
Correct. > > 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 am saying that in joint mode it would rack only because I have two motors on the Y axis and joint mode only moves one at a time. > 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. > Are there different accel and velocity settings for a joint? I have them set in the ini file in the Display section and for each Axis (see configs linked below). Am I missing something somewhere else? .hal -> http://pastebin.com/MPyDjxNQ .ini -> http://pastebin.com/kfshuc8C kinematics.hal -> http://pastebin.com/gCkMtAVZ > 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. Right, I understand that. What I was trying to point out was that in Joint Mode in Manual Control tab I can move at any speed. So why can't I do the same in World Mode (and Manual Control Tab)? > > 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! That raises a question about homing. If I have to home in joint mode does that mean I have to use world mode to get really close, and then use joint mode to move each Y motor until it is homed? -Tom ------------------------------------------------------------------------------ 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
