It's been a long time so I don't remember the details but here's the solution to my problem: https://www.youtube.com/watch?v=N0eaka0LFlQ
On Thu, Dec 20, 2018 at 1:55 PM Cody Orlovsky <[email protected]> wrote: > 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]> >> 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]. >>> 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 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]. > Visit this group at https://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. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
