On Fri, 2011-10-14 at 18:22 +0100, andy pugh wrote: > On 14 October 2011 16:15, Kirk Wallace <kwall...@wallacecompany.com> wrote: > > > the start/stop jerk may become a problem. > > Actually, this is possibly a case where you do want jerk-limited (rate > of change of acceleration) limiting, and that would require the > as-yet-unwritten limit4 HAL function. > jerk-limited motion ought to rattle the tools round in the carousel less.
The original carousel used a Geneva drive: http://www.wallacecompany.com/machine_shop/Shizuoka/atc_manual/bandit_changer-0067.png which would start/stop for each pocket and move in one direction. If one wanted to go from T1 to T24, it would rattle the tools 24 times. It wasn't too bad and I suppose the tools would usually be in sequence, but I think the upgrade will be worth it. I went to the shop to install limit3, but got called away. Just in case anyone is interested, I did take a few of pictures before I left: http://www.wallacecompany.com/machine_shop/Shizuoka/100_1127-1a.JPG http://www.wallacecompany.com/machine_shop/Shizuoka/100_1131-1a.JPG http://www.wallacecompany.com/machine_shop/Shizuoka/100_1133-1a.JPG I tried to get a shot of the gear motor, but it is black and in a shadow, so I need to get more light. Now, I'm going back out to the shop, again. -- Kirk Wallace http://www.wallacecompany.com/machine_shop/ http://www.wallacecompany.com/E45/index.html California, USA ------------------------------------------------------------------------------ All the data continuously generated in your IT infrastructure contains a definitive record of customers, application performance, security threats, fraudulent activity and more. Splunk takes this data and makes sense of it. Business sense. IT sense. Common sense. http://p.sf.net/sfu/splunk-d2d-oct _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
