On 10/14/2011 3:27 PM, Kirk Wallace wrote: > On Fri, 2011-10-14 at 18:22 +0100, andy pugh wrote: > >> On 14 October 2011 16:15, Kirk Wallace<kwall...@wallacecompany.com> wrote: >> >> >>> the start/stop jerk may become a problem. >>> >> Actually, this is possibly a case where you do want jerk-limited (rate >> of change of acceleration) limiting, and that would require the >> as-yet-unwritten limit4 HAL function. >> jerk-limited motion ought to rattle the tools round in the carousel less. >> > The original carousel used a Geneva drive: > http://www.wallacecompany.com/machine_shop/Shizuoka/atc_manual/bandit_changer-0067.png > > which would start/stop for each pocket and move in one direction. If one > wanted to go from T1 to T24, it would rattle the tools 24 times. It > wasn't too bad and I suppose the tools would usually be in sequence, but > I think the upgrade will be worth it. > > I went to the shop to install limit3, but got called away. Just in case > anyone is interested, I did take a few of pictures before I left: > http://www.wallacecompany.com/machine_shop/Shizuoka/100_1127-1a.JPG > http://www.wallacecompany.com/machine_shop/Shizuoka/100_1131-1a.JPG > http://www.wallacecompany.com/machine_shop/Shizuoka/100_1133-1a.JPG > > I tried to get a shot of the gear motor, but it is black and in a > shadow, so I need to get more light. > > Now, I'm going back out to the shop, again. > > The limit3 function is a very useful function. I have it running 3 axis on one machine at high speeds.
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