On 13 November 2012 13:49, Ted Hyde <laser...@gmail.com> wrote: > 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
As I understand it, (and I may be wrong) the expected behaviour is: In joint mode the individual joints jog at the accelleration and velocity set in each [AXIS_N] section. In teleop mode the controlled point will jog at a speed controlled by the [TRAJ]DEFAULT_VELOCITY and [TRAJ]DEFAULT_ACCELERATION (in only one cartesian direction at a time.) In coordinated mode the controlled point will move at the feed rate, constrained within [TRAJ]MAX_VELOCITY and [TRAJ]MAX_ACCELERATION "Teleop" mode is world-mode jogging. "Coordianted" mode is world-mode movent to G-code commands. The angular speed control slider only controls the speed of ABC moves, angular moves in cartesian space. In coordinated mode the fact that your Puma actuators are angular is not relevant. (in much the same way that the angular nature of a servo motor controlling a ballscrew is not relevant) -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ 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
