On Wed, 16 Jun 2021, suraj kumar wrote:
Date: Wed, 16 Jun 2021 18:04:28 +0530
From: suraj kumar <[email protected]>
Reply-To: "Enhanced Machine Controller (EMC)"
<[email protected]>
To: [email protected]
Subject: [Emc-users] Setting of maximum velocity and acceleration in ini file
Dear Forum,
I see, I have to set the maximum velocity and acceleration in ini file at
more than one place, like in [DISPLAY], [TRAJ], [AXIS_X], [JOINT_0]. I can
also see in [JOINT_0], I need to set two times, one for Max velocity and
acceleration and another for STEPGEN MAXVEL and MAXACCEL (25% larger than
MAX_VELOCITY and MAX_ACCELERATION).
I don't have an idea what to set here. I keep it default like MAX_VELOCITY
= 25 and MAX_ACCELERATION = 750 and follow the guidelines for 25%
increament for stepgen velocity and acceleration.
It depends entirely on the drives/motors/system inertia. What drives and motors
are you using and what are you driving?
Some time I get error of max vel clipping/touching when I change the
parameters of STEPSPACE, STEPLEN, STEP_SCALE, etc. And I really don't know
how do they calculate. I decrease some value and get ok. My driver supplier
don't tell me the value settings for STEPLEN, STEPSPACE, DIRSETUP, and
DIRHOLD. And I need help to set them properly.
You get that error because its impossible to reach the velocity limits
with the steplen, stepspace, step_scale settings you have, that is the maximum
velocity of a step/dir system is bound by the pulse timings: maximum velocity =
1/((steplen+stepspace)*stepscale).
Unless you know the timings, good working numbers are 5000,5000,20000,20000
(steplen,stepspace,dirsetup,dirhold) This will allow steprates up to 100 KHz
also dirsetup and dirhold are not critical to performance so it OK to set these
to large numbers.
Servo period is the heart beat of computer, I need help to set the value
for that after doing latency test. Currently, I have set only SERVO_PERIOD
= 1000000 in [EMCMOT] section, no other period setting is there. I just
kept the default.
Usually the is no reason to change this
Please explain the importance of above parameters settings.
I am facing following error problem, my CNC stage is not moving at
commanded high velocity due to these limitations.
If you get following errors, its usually because you are asking the stepgen to
do something it cannot do (stepgen maxaccel or stepgen maxvel bounding the
actual motion because they did not have 25% headroom)
Thanks & Regards
Suraj Kumar.
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Peter Wallace
Mesa Electronics
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