Kinematics and Servo motor gear ratios
28 Sep 2017 09:16 #99542
by bodhi_94
Kinematics and Servo motor gear ratios was created by bodhi_94
Hello,
I'm building puma 560 typed robot arm. To apply kinematics, I used genserkins and added measured DH parameters. But when I jog the robot in world space it move very fast if I lowered all jog speeds. Why this i happening?... I used 1 to 1000 electronic gear ratios in my servo drivers.
Thank you.
I'm building puma 560 typed robot arm. To apply kinematics, I used genserkins and added measured DH parameters. But when I jog the robot in world space it move very fast if I lowered all jog speeds. Why this i happening?... I used 1 to 1000 electronic gear ratios in my servo drivers.
Thank you.
Please Log in or Create an account to join the conversation.
28 Sep 2017 13:24 #99548
by bkt
Replied by bkt on topic Kinematics and Servo motor gear ratios
normally these happens when you make very wrong calculation about encoder ratio .... maybe your input data from your computation is wrong (encoder ppr, gear ratio/pulley ratio, step of motor if use stepper as it seems because not talk to us about axis following error) ... a wrong ferror min-ferror value can show these result (if you set it too hight, the motion start but stop only when ferror limit stop).
Best things is to show your ini hal file.
regards
giorgio
Best things is to show your ini hal file.
regards
giorgio
Please Log in or Create an account to join the conversation.
Time to create page: 0.071 seconds