2012/2/5 Lars Andersson <l...@larsandersson.com>: > Thanks Gene, > change in [TRAJ] was the cure. > > >From your post: >> [AXIS_3] >> TYPE = ANGULAR >> HOME = 0.0 >> MAX_VELOCITY = 30.0 >> MAX_ACCELERATION = 200.0 >> STEPGEN_MAXACCEL = 300.0 >> > Not immediately obvious, why is MAX_VELOCITY used here, not > MAX_ANGULAR_VELOCITY ? > It is similar in my .ini
Because it is max velocity in joint's units per second. TYPE = angular/linear determines, if that particular joint is linear or rotary joint, and if max velocity is max linear or max angular velocity. Not always [AXIS_3] joint is angular... And all the puma and scara robots have rotary joints under AXIS_0, AXIS_1 etc. IMHO existing way it is easier, because user does not have to remember different namings for the same parameter, based on the type or other specifics of joint. Viesturs ------------------------------------------------------------------------------ Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
