Oops. Forgot to include my numbers: [JOINT_3] TYPE = ANGULAR HOME = 0.0 FERROR = 1 MIN_FERROR = 0.25 MAX_VELOCITY = 180.0 MAX_ACCELERATION = 720.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 225.00 STEPGEN_MAXACCEL = 900.00 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0
And if I give it an G0 A1440 it does 4 revolutions at an indicated velocity of 10800. John > -----Original Message----- > From: John Dammeyer [mailto:jo...@autoartisans.com] > Sent: September 23, 2023 2:39 PM > To: 'Enhanced Machine Controller (EMC)' > Subject: Re: [Emc-users] Q about angular vel in dro > > Andy, > Just curious since we have the same harmonic drive and STMBL for the 4th > axis what max velocity and acceleration are you using. > John > > > -----Original Message----- > > From: andy pugh [mailto:bodge...@gmail.com] > > Sent: September 23, 2023 12:26 PM > > To: Enhanced Machine Controller (EMC) > > Subject: Re: [Emc-users] Q about angular vel in dro > > > > On Sat, 23 Sept 2023 at 13:41, gene heskett <ghesk...@shentel.net> > wrote: > > > > > MAX_VELOCITY = 360.000 > > > MAX_ACCELERATION = 12000 > > > > v^2 = u^2 + 2as > > > > for 360 deg/sec and 12000 accel the overrun on stopping will be v^2 / > > 2a = 5.4 degrees. > > > > Also it's possible that your PID is limiting the responsiveness, or > > the actual velocity. > > > > Try it without the PID? > > > > -- > > atp > > "A motorcycle is a bicycle with a pandemonium attachment and is > > designed for the especial use of mechanical geniuses, daredevils and > > lunatics." > > ? George Fitch, Atlanta Constitution Newspaper, 1912 > > > > > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
