that was a good bit of sluthing, and your english is perfectly clear...
Why not just have jog respect each axis limit in tern, and not group
them by linear and rotational? I have worked on machines where even
with linear axes the Z was slower and finer than the X/Y. So any limit
would either be the limit for that axes, or the combined limit of all
the axes of a given move (assuming that you are trying to jog across two
or more axes at a time -- say X+Z).
EBo --
On Aug 16 2013 5:35 AM, Lisandro Massera wrote:
> 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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>
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