Difference between revisions of "FAQ Motion Control"
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| + | {{Note|If this wiki is missing any information about '''motion control''', [[Special:EmailUser/Miborich|ask the developers a question]]. }} | ||
| − | ==== I am changing my '''[[ | + | ==== I am changing my '''[[MC-Basic:robot.VELOCITYTRANS|Vtran]]''' value but the velocity of my '''[[MC-Basic:MOVE|MOVE]]''' command is not influenced by it? ==== |
| − | [[ | + | |
| − | * Velocity of [[ | + | |
| − | * velocity of [[ | + | [[MC-Basic:robot.VELOCITYTRANS|Vtran]] (translational - velocity) influences [[MC-Basic:MOVES|MOVES]] only. If you need to change velocity of the [[MC-Basic:MOVE|MOVE]] command you need to use [[MC-Basic:element.VELOCITYCRUISE|vcruise]]. |
| + | * Velocity of [[MC-Basic:MOVES|MOVES]] (and [[MC-Basic:CIRCLE|CIRCLE]] for robots) is defined by Vtran and Vrot. | ||
| + | * velocity of [[MC-Basic:MOVE|MOVE]] is defined by vcruise. | ||
==== How the parameters: <mf>.VelocityMaxTrans <mf>.AccelerationMaxTrans, <mf>.JerkMaxTrans, <mf>.VelocityMaxRot, <mf>.AccelerationMaxRot, <mf>.JerkMaxRot affect linear and/or rotary conveyors? ==== | ==== How the parameters: <mf>.VelocityMaxTrans <mf>.AccelerationMaxTrans, <mf>.JerkMaxTrans, <mf>.VelocityMaxRot, <mf>.AccelerationMaxRot, <mf>.JerkMaxRot affect linear and/or rotary conveyors? ==== | ||
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''Shortly, you can ignore xxxRot values'' | ''Shortly, you can ignore xxxRot values'' | ||
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==== Why am I getting >>Element entered into following mode<< notes?==== | ==== Why am I getting >>Element entered into following mode<< notes?==== | ||
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# It is not moving (else it would be an error) | # It is not moving (else it would be an error) | ||
# It came unexpected - means the drive_control world is not the cause of disable (read: nobody gave "en=0")- might be somebody pressed an e-stop? | # It came unexpected - means the drive_control world is not the cause of disable (read: nobody gave "en=0")- might be somebody pressed an e-stop? | ||
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| + | ==== On our test system, our tester <!-- Jürgen --> got the exception 13134 when he tried to move a group in jog mode. Can you explain this exception? Is this “just” a configuration problem? ==== | ||
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| + | It means the internal link length parameters and initial joint positions are such that a closed kinematics chain can not be closed (in case of MODEL 8 this is scissor kinematics) if you try to attach such a system the [[MC-Basic:robot.MODELENABLE|ModelEnable]] flag is set to zero. You need to bring the system to a meaningful position (or to change the links length) and the to se the modelenable flag again. | ||
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| + | ==== How can I read the CFB Overflow Counter of an axis? ==== | ||
| + | |||
| + | Querying the [[MC-Basic:axis.CountRollOver|<''axis''>.CountRollOver]] | ||
| − | [[Category | + | [[Category:Motion Control|FAQ]] |
Latest revision as of 13:05, 13 September 2017
 | NOTE |
| If this wiki is missing any information about motion control, ask the developers a question. |
Contents
- 1 I am changing my Vtran value but the velocity of my MOVE command is not influenced by it?
- 2 How the parameters: <mf>.VelocityMaxTrans <mf>.AccelerationMaxTrans, <mf>.JerkMaxTrans, <mf>.VelocityMaxRot, <mf>.AccelerationMaxRot, <mf>.JerkMaxRot affect linear and/or rotary conveyors?
- 3 Why am I getting >>Element entered into following mode<< notes?
- 4 On our test system, our tester got the exception 13134 when he tried to move a group in jog mode. Can you explain this exception? Is this “just” a configuration problem?
- 5 How can I read the CFB Overflow Counter of an axis?
I am changing my Vtran value but the velocity of my MOVE command is not influenced by it?
Vtran (translational - velocity) influences MOVES only. If you need to change velocity of the MOVE command you need to use vcruise.
- Velocity of MOVES (and CIRCLE for robots) is defined by Vtran and Vrot.
- velocity of MOVE is defined by vcruise.
How the parameters: <mf>.VelocityMaxTrans <mf>.AccelerationMaxTrans, <mf>.JerkMaxTrans, <mf>.VelocityMaxRot, <mf>.AccelerationMaxRot, <mf>.JerkMaxRot affect linear and/or rotary conveyors?
- In case of rotary conveyer these values are translated into angular values (i.e. divided by R n , n = 1,2,3)
- The xxxRot parameters are used only for moving frames that have orientation directly linked to the master axis.
Shortly, you can ignore xxxRot values
Why am I getting >>Element entered into following mode<< notes?
This note is printed when one of the following happens:
- axis entered following mode (either disabled or somebody explicitly commanded fmode=1/2)
- It is a single axis - means not a part of any attached group
- It is not moving (else it would be an error)
- It came unexpected - means the drive_control world is not the cause of disable (read: nobody gave "en=0")- might be somebody pressed an e-stop?
On our test system, our tester got the exception 13134 when he tried to move a group in jog mode. Can you explain this exception? Is this “just” a configuration problem?
It means the internal link length parameters and initial joint positions are such that a closed kinematics chain can not be closed (in case of MODEL 8 this is scissor kinematics) if you try to attach such a system the ModelEnable flag is set to zero. You need to bring the system to a meaningful position (or to change the links length) and the to se the modelenable flag again.
How can I read the CFB Overflow Counter of an axis?
Querying the <axis>.CountRollOver