On 03/15/2017 09:09 AM, Gene Heskett wrote: > Secondary Q, for whoever knows: I am being plagued with > joint following errors, even for tiny movements, smaller > than the error tolerances set in the .ini file.. Is a > limit3 limiting the acceleration the fix for that? You don't need that. Joints are already acceleration limited, the parameters are in the .ini file for each axis/joint. You should run Halscope, and look at pid.x.error and also the falling edge of axis.0.amp-enable-out (they may have changed this to joint.0.amp-enable-out for 2.8) to trigger the scope when it gets the following error. You could also look at the velocity for that axis from the encoder function. That might tell you what the cause of the error is.
> Related Q: Is there an accel limit in the .ini file that > applies to a jog-count or jog-scale input? Yes, the axis/joint limits are applied to any jog command, so you can overrun the velocity of the joint, and then be surprised when the axis keeps on moving after you stop jogging. As far as I know, both velocity and acceleration limits apply to jog moves as well as MDI/program moves. Jon ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
