my robot ini and hal On 4/20/25 18:39, Nicklas SB Karlsson wrote:
sön 2025-04-20 klockan 17:15 +0200 skrev Oliver Dippel:On 4/20/25 15:35, Nicklas SB Karlsson wrote:Are using the Puma kinematics. In joint mode it move with expected speed but switching to world mode using cartesian G- codes it only move very slow.Have tried to increase all velocity values in .ini file but make no difference. Reading the source code pumakins.c there seems to be position calculations only so this should make no difference. Do however otherwise expect kinematics module must have speed calculation to keep within allowed range for joints. Any suggestions? Nicklas Karlsson _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-usersthere are angular and linear velocity values, hope you have both in the iniYes they make a difference without kinematic module jogging in machine coordinates. None of them seems to a difference for world mode using cartesian G-codes. Read manaul and expect angular and linear velocities in [TRAJ] section should make a difference i world mode using G-codes. Have not had this problem with trivkins. Nicklas Karlsson _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
[EMC] MACHINE = Rio - melfa_nogl DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = axis TITLE = LinuxCNC - RIO EDITOR = gedit POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL ARCDIVISION = 64 GRIDS = 10mm 20mm 50mm 100mm INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 2 PROGRAM_PREFIX = ~/linuxcnc/nc_files ANGULAR_INCREMENTS = 1, 5, 10, 30, 45, 90, 180, 360 INCREMENTS = 50mm, 10mm, 5mm, 1mm, .5mm, .1mm, .05mm, .01mm SPINDLES = 1 MAX_FEED_OVERRIDE = 5.0 MIN_SPINDLE_OVERRIDE = 0.5 MAX_SPINDLE_OVERRIDE = 1.2 MIN_SPINDLE_SPEED = 120 DEFAULT_SPINDLE_SPEED = 1250 MAX_SPINDLE_SPEED = 3600 MIN_SPINDLE_0_OVERRIDE = 0.5 MAX_SPINDLE_0_OVERRIDE = 1.2 MIN_SPINDLE_0_SPEED = 0 DEFAULT_SPINDLE_0_SPEED = 200 SPINDLE_INCREMENT = 10 MAX_SPINDLE_0_SPEED = 300 MAX_SPINDLE_POWER = 300 # 0.0 * 60.0 = 0.0 units/min MIN_LINEAR_VELOCITY = 0.0 # 18.0 * 60.0 = 1080.0 units/min DEFAULT_LINEAR_VELOCITY = 18.0 # 20.0 * 60.0 = 1200.0 units/min MAX_LINEAR_VELOCITY = 20.0 MIN_ANGULAR_VELOCITY = 0.0 DEFAULT_ANGULAR_VELOCITY = 18.0 MAX_ANGULAR_VELOCITY = 20.0 PYVCP_POSITION = RIGHT PYVCP = rio-gui.xml [KINS] JOINTS = 6 KINEMATICS = genserkins [FILTER] PROGRAM_EXTENSION = .ngc,.nc,.tap G-Code File (*.ngc,*.nc,*.tap) PROGRAM_EXTENSION = .py Python Script py = python [TASK] TASK = milltask CYCLE_TIME = 0.01 [RS274NGC] PARAMETER_FILE = linuxcnc.var SUBROUTINE_PATH = ./subroutines/ USER_M_PATH = ./mcodes/ REMAP = M400 modalgroup=10 ngc=400remap REMAP = M401 modalgroup=10 ngc=401remap RS274NGC_STARTUP_CODE = G10 L2 P7 X0 Y0 Z0 A-180 B0 C0 G59.1 HAL_PIN_VARS = 1 REMAP = M428 modalgroup=10 ngc=428remap REMAP = M429 modalgroup=10 ngc=429remap REMAP = M430 modalgroup=10 ngc=430remap [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.01 BASE_PERIOD = 0 SERVO_PERIOD = 1000000 NUM_DIO = 16 NUM_AIO = 16 [HAL] HALFILE = rio.hal HALFILE = pregui_call_list.hal TWOPASS = ON POSTGUI_HALFILE = postgui_call_list.hal HALUI = halui [HALUI] MDI_COMMAND = M400 MDI_COMMAND = M401 MDI_COMMAND = M68 E0 Q-100 MDI_COMMAND = M68 E0 Q-75 MDI_COMMAND = M68 E0 Q0 MDI_COMMAND = M68 E0 Q75 MDI_COMMAND = M68 E0 Q100 MDI_COMMAND = M428 MDI_COMMAND = M429 MDI_COMMAND = M430 MDI_COMMAND = G92 X0 MDI_COMMAND = G92 Y0 MDI_COMMAND = G92 Z0 MDI_COMMAND = G92 A0 MDI_COMMAND = G92 B0 MDI_COMMAND = G92 C0 [TRAJ] COORDINATES = XYZABC LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.01 # 40.0 * 60.0 = 2400.0 units/min DEFAULT_LINEAR_VELOCITY = 40.0 # 45.0 * 60.0 = 2700.0 units/min MAX_LINEAR_VELOCITY = 45.0 DEFAULT_ANGULAR_VELOCITY = 60.0 MAX_ANGULAR_VELOCITY = 100.0 NO_FORCE_HOMING = 1 [EMCIO] EMCIO = io CYCLE_TIME = 0.1 TOOL_TABLE = tool.tbl [AXIS_X] # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 MIN_LIMIT = -11500 MAX_LIMIT = 11500 MIN_FERROR = 0.01 FERROR = 10 BACKLASH = 0.0 [JOINT_0] # stepdir0 P = 250.0 I = 0.0 D = 0.0 BIAS = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 DEADBAND = 0.01 MAXOUTPUT = 300 TYPE = ANGULAR FERROR = 10 MIN_LIMIT = -90 MAX_LIMIT = 90 # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 SCALE_OUT = -1066.7 SCALE_IN = -1066.7 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_OFFSET = 0.0 HOME = 0.0 HOME_SEQUENCE = 0 [AXIS_Y] # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 MIN_LIMIT = -11500 MAX_LIMIT = 11500 MIN_FERROR = 0.01 FERROR = 10 BACKLASH = 0.0 [JOINT_1] # stepdir1 P = 250.0 I = 0.0 D = 0.0 BIAS = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 DEADBAND = 0.01 MAXOUTPUT = 300 TYPE = ANGULAR FERROR = 10 MIN_LIMIT = -138 MAX_LIMIT = -40 # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 SCALE_OUT = -1422.26 SCALE_IN = -1422.26 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_OFFSET = -138.0 HOME = -138.0 HOME_SEQUENCE = 0 [AXIS_Z] # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 MIN_LIMIT = -11500 MAX_LIMIT = 11500 MIN_FERROR = 0.01 FERROR = 10 BACKLASH = 0.0 [JOINT_2] # stepdir2 P = 250.0 I = 0.0 D = 0.0 BIAS = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 DEADBAND = 0.01 MAXOUTPUT = 300 TYPE = ANGULAR FERROR = 10 MIN_LIMIT = -20 MAX_LIMIT = 77 # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 SCALE_OUT = 1066.7 SCALE_IN = 1066.7 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_OFFSET = 77.0 HOME = 77.0 HOME_SEQUENCE = 0 [AXIS_A] # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 MIN_LIMIT = -11190 MAX_LIMIT = 11190 MIN_FERROR = 0.01 FERROR = 10 BACKLASH = 0.0 [JOINT_3] # stepdir3 P = 250.0 I = 0.0 D = 0.0 BIAS = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 DEADBAND = 0.01 MAXOUTPUT = 300 TYPE = ANGULAR FERROR = 10 MIN_LIMIT = -90 MAX_LIMIT = 90 # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 SCALE_OUT = 711.1111111 SCALE_IN = 711.1111111 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_OFFSET = 0.0 HOME = 0.0 HOME_SEQUENCE = 0 [AXIS_B] # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 MIN_LIMIT = -11170 MAX_LIMIT = 11170 MIN_FERROR = 0.01 FERROR = 10 BACKLASH = 0.0 [JOINT_4] # stepdir4 P = 250.0 I = 0.0 D = 0.0 BIAS = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 DEADBAND = 0.01 MAXOUTPUT = 300 TYPE = ANGULAR FERROR = 10 MIN_LIMIT = -120 MAX_LIMIT = 120 # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 SCALE_OUT = 711.1111111 SCALE_IN = 711.1111111 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_OFFSET = 0.0001 HOME = 0.0001 HOME_SEQUENCE = 0 [AXIS_C] # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 MIN_LIMIT = -11170 MAX_LIMIT = 11170 MIN_FERROR = 0.01 FERROR = 10 BACKLASH = 0.0 [JOINT_5] # stepdir5 P = 250.0 I = 0.0 D = 0.0 BIAS = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 DEADBAND = 0.01 MAXOUTPUT = 300 TYPE = ANGULAR FERROR = 10 MIN_LIMIT = -180 MAX_LIMIT = 180 # 20.0 * 60.0 = 1200.0 units/min MAX_VELOCITY = 20.0 MAX_ACCELERATION = 100.0 SCALE_OUT = 450.0 SCALE_IN = 450.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_OFFSET = 0.0 HOME = 0.0 HOME_SEQUENCE = 0
rio.hal
Description: application/vnd.hal
_______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
