On Wed, 16 Jun 2021 at 13:37, suraj kumar <surajkumar973...@gmail.com> wrote:
> 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). They all do slightly different things. Starting with the stepgens: The stepgen modules (both software and fpga versions) have internal limits on velocity and acceleration. You can set these to zero and no limits are applied. The reason for this is so that it is possible to connect a stepgen to a stepper motor and pass position/velocity commands _without_ passing the command through a trajectory planner. A GUI, for example, can pass a new position to the stepgen position command and the internal limits will mean that the motor will accelerate smoothly to position and stop. If a system is configured with backlash compensation then the stepgen limits need to exist too. Then there are the joint and axis limits. These are often exactly the same with a cartesian machine, but are not the same thing when the kinematics is more complicated. The [DISPLAY] section sets how high the sliders are allowed to go that set the velocities. You might want to have these different to the actual machine hardware limits. And the [TRAJ] limits are the limits foro tool-point velocity in multi-axis motion, which can be significantly higher than for a single axis. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1912 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
