2013/12/26 EBo <e...@sandien.com> > On Dec 26 2013 2:47 PM, Viesturs Lācis wrote: > > 2013/12/26 Andrew <pkm...@gmail.com> > > > >> > Yes, that is very reasonable. Just calculate the scale and use > >> usual > >> planning. > >> The task can also be reversed: increase world velocity to the > >> maximum > >> allowed by joint constraints. This can be useful for G0 moves. > >> > > > > Umm, sorry for offtopic, am I the only one to be missing out > > something > > obvious and think that this whole problem would apply _only_ to rapid > > (G0) > > moves? > > All the other moves are feedrate limited - they are executed at the > > requested feedrate and intentional deviation from that does not seem > > right, > > so I am missing, how the whole concept of checking for worst-case > > velocity > > violations and scaling down appropriately will not break the purpose > > of > > requesting particular feedrate in code. > > I was going to ask the same thing... If the issue is with the rapid > traverse that is set limited with the max velocity. Are you sure that > the max velocity is set correctly?
I do agree with Charles that stating "one value fits all the possible cases" max velocity in world coordinates considerably reduces the potential max velocity in other, not-so-bad areas. I am designing linear delta robot for my bachelor thesis and, based on my model, I calculated that in the middle of the work envelope 1 mm joint movement would move the tool by 1,7 mm while at the edge of the work envelope 1 mm move of the most stretched out joint would move the tool by 0,35 mm (both values refer to tool's motion in XY plane, while joints are parallel to Z). The difference is very high. Currently I would set world max vel approximately 3 times lower than actual joint max velocity. But as I see it now, currently discussed solution would only affect rapid moves anyway. Viesturs ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
