Stable acceleration

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13 Apr 2021 14:28 - 13 Apr 2021 14:35 #205799 by TheRoslyak
Good day.
Can I set a stable acceleration value?
In ini file I set all parameter acceleration is 30000 but I get 30k-45k and more.
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Last edit: 13 Apr 2021 14:35 by TheRoslyak.

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13 Apr 2021 20:16 #205822 by rodw
Replied by rodw on topic Stable acceleration
acceleration is at the joint level. where two or more axes are all contributing to a move at their stable max acceleration, the total acceleration observed in a current-vel plot can exceed the joint acceleration because the acceleration vectors are summed

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14 Apr 2021 08:22 #205863 by robertspark
Replied by robertspark on topic Stable acceleration
acceleration or velocity?

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14 Apr 2021 08:36 #205864 by rodw
Replied by rodw on topic Stable acceleration

robertspark wrote: acceleration or velocity?

Definitely Acceleration per the ini file. You can measure that in the halscope plot by looking at the time taken to get to the feedrate (the ramp up and ramp down in the plot).
You can do this in a sim.
Try doing a rapid from x,y 0,0 to 1000,1000 and plot motion.current-vel and measure the time to get to speed and calculate the acceleration (It should be > 30000)
Then repeat the exercise moving from 0,0 to 0,1000 (which should respect the joint acceleration)

Note the values in halscope are in units/sec/sec not units/min/min.

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