FAQ Motion Control

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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:

1. axis entered following mode (either disabled or somebody explicitly commanded fmode=1/2)
2. It is a single axis - means not a part of any attached group
3. It is not moving (else it would be an error)
4. 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, Jürgen got the exception 13134 when he tries to move a group in jog mode. Can you explain us 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.