I have had the same problem. I "fixed" this behaviour by using a little HAL
logic. I used a MUX to change the jog speed parameter depending on wether you
are jogging a linear o a rotary axis.Now the real fix to the issue. I've
studied the code, and the problem (in the case of jogging) is in command.c
around line 1423. When it checks for max speed, it compares all the axes speed
against a limitvel which is set in the configuration ("MAX_VELOCITY" in the
TRAJ section), without differentiating between linear or rotary axes. This is
troublesome, since a max speed of 10000mm/min would be normal for a linear axis
but 10000°/min is quite a lot for an angular axis (at least for my machine).The
solution would be to generate a new parameter in the config ini file, let's
call it "MAX_ANGULAR_VELOCITY", and have the code in command.c make a
difference between linear and rotary axes. I would be happy to help with the
command.c part, but I lack the knowledge to generate a new parameter in the
configuration or get it to be in the proper structure.I have also realized that
in order to not to break any existing machine or configuration with the
changes, we should write the code so that when MAX_ANGULAR_VELOCITY is not
defined in the config file, the internal parameter should be set to
MAX_VELOCITY.There is a similar issue with accelerations, but they don't
generate much problems. For consistency's sake I believe we should deal with
both problems.Sorry for my english, I've tried to be as clear as possible.
Lisandro
> From: [email protected]
> Date: Fri, 16 Aug 2013 10:19:14 +0100
> To: [email protected]
> Subject: [Emc-developers] Axis velocity limits
>
> Non-trivial configs again.
>
> Is the software (in any branch) meant to limit the trajectory speed to
> stay within axis limits during jogs?
>
> Someone on the forum is using a 5-axis setup adapted from the 5axis demo.
>
> He gets a following error on the linear axes when jogging the rotaries
> in World mode.
>
> To see the issue (or what I think is the issue) you can use the 5axis
> demo config.
>
> In joint mode jog joint 4 to horizontal.
> Switch to world mode.
> if it won't let you switch then halcmd setp halui.joint.3.home 1 and
> the same for joints 6 and 7.
>
> If you now jog (continuous) the C axis then everything dances around
> the tool point in a most satisfying way in the Vismach model but a
> halmeter on axis.0.velocity-cmd will show it moving much faster than
> the axis limit in the INI file.
>
> Reducing the linear jog speed does slow the rotation.
>
> The behaviour appears to be the same (or at least similar) in
> joints_axes3 even though there was a recent commit that looked like it
> might fix it.
>
> Are there any workarounds? For example is a wheel-jog expected to work
> better? I am prepared to talk him through switching to JA3, but only
> if that is likely to fix something.
>
> --
> atp
> If you can't fix it, you don't own it.
> http://www.ifixit.com/Manifesto
>
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