Il giorno lun, 12/12/2011 alle 12.12 +0000, andy pugh ha scritto: > On 12 December 2011 12:00, Spiderdab <77...@tiscali.it> wrote: > > > So, apart from controlling that joint speed isn't violated into traj > > planner, i think there's an error into the code that should be fixed to > > make traj_max_vel work also on manual jog. > > Generally speaking, users of machine tools want to be able to jog to a > position as fast as possible, and it makes sense to limit jogging only > to joint limitations. > > I think that your requirements are different because what you have is > not a machine tool. > > How much do you use the machine in "free flying" mode, and how much > time is spent running G-code? > Good question. the 'show' of course is made by running g-code, so for that i'm ok. But i need manual jogging to sign positions, understand movements, playing preliminar movements. Of course it's logic, and makes sense to limit jogging to joint max speed, but in this case i can set joint_max_speed (and joint-jog) to 4000 mm/s i.e., then if i set axis-max-speed to 500 mm/s i don't understand why speed can grow to 1.732* (866 mm/s +-) if i jog into the diagonal of the three axis! I'm just talking about logics. Let's say my machine is a robot-arm with 6 dof, it's the same. if for some reason i need to manual jog the X axis, and then XY axis together, i do want that tooltip speed remains the same.
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