I know it's been over 3 years, but what was the solution you guys had to change the MAX_VELOCITY for joint 3?
Thanks On Monday, June 8, 2015 at 3:42:15 PM UTC-4, sliptonic wrote: > > Playing with it more today we noticed that if we inspected the value of > axis.N.free-vel-lim > in halconfig, we got different results for some axes than others. > After jogging the other axes with the jog speed slider maxed out, the > value would reflect the the MAX_VELOCITY value from the ini file but not > joint 3 (AXIS_5). That one is always = 1. This is consistent with what > halscope shows and seems to be about the real speed of the joint (ie about > 1 degree per second). > > > On Mon, Jun 8, 2015 at 1:29 PM, Daren Schwenke <[email protected] > <javascript:>> wrote: > >> I noticed something similar. >> Even with identical configs for axis 4-8, I get radically different >> movement speeds, and immediate joint following errors in world mode. >> As I had the option, I tried both angular and linear. It didn't seem to >> make a difference. I had the running theory that my angular/linear setting >> was being ignored for some of them. >> I ended up settling on velocity extrusion where I don't need an axis 4-8 >> to 'follow'. >> >> On Sunday, June 7, 2015 at 3:44:55 PM UTC-4, sliptonic wrote: >> >>> An update on my progress. I'm still playing with this robot when I can >>> between other things. >>> >>> It seems like most of the problems I'm seeing are related to how joint 3 >>> (the axis which rotates the actuator around Z) moves. It doesn't move fast >>> enough so in world mode, it can't keep up with the other axes and causes a >>> following error. >>> I was able to duplicate the problem using the unmodified scara sim >>> config. I just copied >>> /usr/share/linuxcnc/examples/sample-configs/sim/axis/vismach/scara/ to my >>> config directory and launched it. With the jog speed slider maxed out, the >>> joint 0 and joint 1 axes move naturally but joint 3 (which is AXES_5 in the >>> config) is very slow. >>> >>> >>> <https://lh3.googleusercontent.com/-scwv_JNxMkc/VXSUnUL2z8I/AAAAAAAAFJE/HU4CxIXwprg/s1600/Selection_004.png> >>> When I watch this joint in halscope, it looks like the commanded >>> velocity is limited but I don't understand why. The joint is configured >>> identically to the other two angular joints. >>> >>> >>> <https://lh3.googleusercontent.com/-ablSbc4Lvjk/VXSdRCHQhVI/AAAAAAAAFJU/h9S4uAJdHrI/s1600/Selection_005.png> >>> One way that the sim config differs from my real config is that in world >>> mode, the C joint in the sim config moves at expected speed. In my real >>> config, I get following errors. >>> >>> >>> On Sunday, March 22, 2015 at 9:08:23 AM UTC-5, sliptonic wrote: >>>> >>>> >>>> >>>> On Monday, March 16, 2015 at 2:22:22 AM UTC-5, Michael Haberler wrote: >>>>> >>>>> >>>>> Any chance you reproduce the behavior with a scarakins sim config and >>>>> an exact sequence of actions to follow? If you have that I would suggest >>>>> you make it an issue in the github tracker >>>>> >>>>> Yes. Posted issue in tracker. >>>> >>>> >>>> >>>>> > 2) The wrist joint (C or joint 3 in my case) seems unaffected by the >>>>> velocity and acceleration settings in the .ini file. Regardless of how I >>>>> set them, this axis moves very slow. This duplicates in the simulation >>>>> too. >>>>> >>>>> unfortunately you'd be better off with the joints-axes branch which >>>>> isnt merged yet, and needs a determined djihadi to get it ready for a >>>>> merge, see https://github.com/machinekit/machinekit/issues/438 - also >>>>> the next problem might be addressed with it >>>>> >>>>> I'm certainly not that djihadi but will be willing to test as things >>>> become available. This machine is mostly for fun and learning so I have >>>> no >>>> time pressure. I'm still curious about why joint 3 doesn't behave like >>>> other joints even in the sim config in joint mode. I've cranked velocity >>>> and acceleration numbers through the roof but it still only moves at about >>>> 1/2 degree per second. >>>> >>>> >>>> >>>>> > 3) If I get into world mode, I can jog in Cartesian space and things >>>>> look good but there are no machine limits on the coordinated moves so the >>>>> machine will try to exceed it's range and make all kinds of unpleasant >>>>> sounds. Similar behavior if you start try to job in forbidden ways in >>>>> the >>>>> sim configuration. >>>>> >>>>> Out of curiosity: I think the jog-while-paused feature in mk motion >>>>> does limits correctly on _jogs during pause_. Could you try to adapt this >>>>> sim config to use your kins and see that it works (in sim mode maybe)? >>>>> this >>>>> would help point out what is missing. >>>>> >>>> >>>> I'll try porting my config. I've been meaning to try this for my laser >>>> and mill configs anyway. >>>> >>> -- >> website: http://www.machinekit.io blog: http://blog.machinekit.io >> github: https://github.com/machinekit >> --- >> You received this message because you are subscribed to a topic in the >> Google Groups "Machinekit" group. >> To unsubscribe from this topic, visit >> https://groups.google.com/d/topic/machinekit/oNEWETICSE4/unsubscribe. >> To unsubscribe from this group and all its topics, send an email to >> [email protected] <javascript:>. >> Visit this group at http://groups.google.com/group/machinekit. >> For more options, visit https://groups.google.com/d/optout. >> > > > > -- > Brad Collette > 573-427-7132 > > > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. 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