> From: gene heskett [mailto:ghesk...@shentel.net] > > On 9/23/23 19:11, andy pugh wrote: > > On Sat, 23 Sept 2023 at 22:42, John Dammeyer <jo...@autoartisans.com> > wrote: > >> > >> Andy, > >> Just curious since we have the same harmonic drive and STMBL for the > 4th axis what max velocity and acceleration are you using. > > > > I just checked, and the numbers are very modest. 100 deg/sec and 250 > > deg/sec accel. But the TP will always hit the programmed endpoints > > regardless of accel settings, as it calculates within them. > > > > I don't see the issue that Gene reports because I never home the > > rotary. There is no point as I have no indexed workholding and there > > is no need for soft limits. > > > > If I need to align a part, I do it in the usual ways, with indicators > > and probes, and then touch-off for alignment. > > > There is another advantage to homing it. Once homed, its much more > responsive, before homing its speed and accel are very lethargic, > limited to about 1 rpm and 1/4 turn to get to speed or to get stopped.
Fascinating. This all prompted me to look again at my harmonic drive (FHA-24B-6015-E150) specifications. Max continuous 60 RPM on the output with 200V power supply. I'm running 105V so it's no surprise that I can't get faster than 30 RPM which, with the 50:1 is 1500 motor RPM before I get the following errors. But I really don't understand why any system would need to be homed before it could run full speed. John _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
