On a trivkins machine I don't think it matters much. In coordinated mode
the lowest speed/acceleration for a given axis will win. In joint mode
(mainly jogging while unhomed) the joint's speed + acceleration are used.
If you are using soft limits it pays to have to have the axis limits
slightly before the joint limits. If you are about hit an axis limit the
axis will decelerate to a stop. If you hit a joint limit the joint stops
without any deceleration.
Les
On 30/06/2021 11:09, Matthew Herd wrote:
A second question. For velocity mode operation between LinuxCNC and the USC board, do
I need to add headroom to any speeds or accelerations? Right now I have the TRAJ
section max speeds & accelerations set higher than the max speeds &
accelerations on the joints and axes (which are set to be the same, since it’s a
trivkins machine). Or should I be setting all max speeds and accelerations to the same
numbers (excepting if joint 2/Z might be set lower)?
Thanks!
Matt
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