Velocity 5axis

Mr_Wolfs wrote:

I built a 5 axis machine, all works but I have a problem with the velocity.
When I'm in world mode (teleop) the Z axis take the velocity of the MAX_LINEAR_VELOCITY in the [TRAJ] section.

That is what that entry means.
You need to choose a value that suits the slowest axis.
Then any linear move in any direction can be achieved at the programmed rate, up to that limit.

Mr_Wolfs wrote:

Then you say me that I must put MAX_VELOCITY = 10 to all linear axis.

It's bad I could go faster with my machine.

No, you can use the maximum velocity in the indvidual axis sections, and that will be the velocity used in joint-mode moves.

However in world mode there is only one maximum speed, and that is governed by the speed of the slowest axis. This is a consequence of how the velocity limiitation is done.

Mr_Wolfs wrote:

ok but it's strange cause when I start a gcode, the Z axis move faster than in joint-mode.

That is strange.
I wonder if it related to the fact that you have a STEPGEN_MAXVEL defined for the Z axis, but not for any other?

We can't change the velocity limitation in world mode?

I am not at all familiar with 5axiskins.
Bear in mind that it will try to make the tool tip follow the programmed path, and if the tool length is wrong or the 5axiskins offsets are wrong then the resulting path will be wrong.

Mr_Wolfs wrote:

No the STEGEN_MAXVEL defined for the Z axis was a test but I can't see the difference with it.
My 5axiskins is set up correctly I have the good tool length for my machine.

I am afraid that I have reached the limit of my knowledge with 5axiskins.
You might find better help on the mailing list of the IRC channel.
See the "Community" link at the top.