On 9/24/23 03:03, John Dammeyer wrote:
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
That could be the setting combination at work. IDK which set of limits
it uses when unhomed vs homed.
There was not an ANGULAR step list in the .ini here because this .ini
file was last generated by pncconf at least a decade back, and someone
has set a qtvcp debug so I get a boat load of debugging info in the
shell I launch it from. So I added this line to the ini file:
ANGULAR_INCREMENTS = 45 22.5 11.255.625 2.8125 1.40625 0.703125 0.3515625
which shut that squawk off. But it also does not show in any pulldown of
the axis gui. And, since ALL of my right panel is pyvcp generated, I
have no clue how QTvcp got involved. Lots of puzzles...
But I am working now, so its time to write some gcode. I'll be carving a
hard maple stick that starts out as a 2x2x21 inch, making all but about
3.5" on one end round which the go704 can do in about an hour whereas
because of the fragility of a 1/16" RN SC with a DOC of .25" takes the
6040 a day and a half to do. I also need to design and print a sawdust
collector, and change the vacuum setuo from my home made no taper
cyclone separator out for an HF version which fits a 5 gallon bucket
lid. That ought to extend the life of a $16 filter for the bucket-vac
considerably.
Thank you all.
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Cheers, Gene Heskett.
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author, 1940)
If we desire respect for the law, we must first make the law respectable.
- Louis D. Brandeis
Genes Web page <http://geneslinuxbox.net:6309/>
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