Greets - Is there a better explanation of the interaction of the ACCEL and VELOCITY settings for Axis in its' INI file? We've been working on a Puma arm which we used to have running on Copley amps in Torque mode (and a MESA card performing PWM angle output), but have moved it over to Gecko 320x amps using step/dir inputs. We're (obviously) using Pumakins instead of trivkins. The observation is that changing between joint and teleop (world-xyz) modes, the jog velocities are quite different (approximately by an order of magnitude). I would have expected that in joint mode, the _ANGULAR_VELOCITY group in the ini file[Display] section would affect this (since the axes are defined as type Angular), however it does not. Changing _LINEAR_VELOCITY affects both joint and teleop. As noted, in joint mode the jogging barely makes the machine move, while in teleop, it's about 10 times faster. That's a problem to merely "bump up the velocities", as at 10x those values, the machine has problems keeping up, and faults due to following errors, so it's more prudent to keep the slider values within the correct limits. In the [Display] section, the _LINEAR_VELOCITY variables change the view of the Jog slider as intended, but it appears that the Max Velocity slider (located below it) is calculated as a function of all the [AXIS] velocity variables? Or is it derived from another hidden variable? (With the settings below, it indicated 30,000 mm/min) Is this difference potentially just a function of the Kins module?
I'm running 10.04 current stable (from LiveCD install). Relevant INI snippets below: [DISPLAY] #+ Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 4.0 DEFAULT_LINEAR_VELOCITY = 1.25 MAX_LINEAR_VELOCITY = 1.5 DEFAULT_ANGULAR_VELOCITY = 1.25 MAX_ANGULAR_VELOCITY = 1.5 [TRAJ] #+ machine specific settings AXES = 3 # COORDINATES = X Y Z COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = deg CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 60.0 MAX_VELOCITY = 250.0 DEFAULT_ACCELERATION = 60.0 MAX_ACCELERATION = 150.0 #+ First axis [AXIS_0] TYPE = ANGULAR HOME = 0.000 MAX_VELOCITY = 300.0 MAX_ACCELERATION = 50.0 BACKLASH = 0.000 INPUT_SCALE = 1.000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -180.0 MAX_LIMIT = 180.0 FERROR = 2.000 MIN_FERROR = 1.200 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 // Axis 1 & 2 are practical duplicates of above..... Thanks, Ted. ------------------------------------------------------------------------------ Monitor your physical, virtual and cloud infrastructure from a single web console. Get in-depth insight into apps, servers, databases, vmware, SAP, cloud infrastructure, etc. Download 30-day Free Trial. Pricing starts from $795 for 25 servers or applications! http://p.sf.net/sfu/zoho_dev2dev_nov _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
