Super Fast Hexapod. A,B,C Joint Velocity Limited

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30 Oct 2009 23:58 #1063 by rantonides
Hi,

I've built a very fast hexapod. Everything works great, but the A,B and C axes are limited in velocity too much.

I've set every velocity limit I can find in TRAJ to very high numbers, but something seems to be limiting it.

Even though these are angular axes, it appears to be governed by the linear velocity limits. No matter what I change, a G1 command at any high feedrate only gives me a velocity of about 1 degree per second. I need to do about 40 degrees per second.

The joint velocitys are definitely not limiting it, because I can do XYZ translation moves very fast.

Can anyone shed a little light on the subject?

Thanks,

Rob

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01 Nov 2009 13:10 #1067 by awallin
you need to post (e.g. pastebin) your INI file, your HAL-file(s), as well as the kinematics you are using so that someone else can try this.

sounds like a nice machine, are there any pictures or videos online?

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12 May 2011 15:50 #9763 by PKM
Just wondering what's the end of the story. And of course some info on your hexapod would be interesting.

I digged a little into world/joint motions in EMC2 and probably know the reason. If you use inch units for your machine parameters, that might explain something.

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