Speed limitation close to software limit by traj planner

Hi all,
I just want to confirm that the traj planner decreases the speed before reaching a software limit defined in the .ini file as Max or Min limits of a joint or axis. So if you jog manually towards a soft limit, it ramp down the vel cmd instead of going from the jog speed to 0 at the software limit location.

I did some test and it seems to be the case, the traj planner ramping down the speed, but I cannot remember why I use to think it was not the case. Maybe it was not the case in the past.

If someone could confirm this, that would be great.

Thank you

Nicolas

My speeds are about 110 or 120ipm in the ini and it always stops at .01 past the software limit's.

I haven't really tested it thoroughly, but I would assume it will use your acceleration setting to slow down at the limit

A keyboard jog is actually performed as a linear move to the soft limit.
Then, when you release, the move is aborted.

So the move will always stop smoothly and within limits at the soft limit.

Leon82 wrote: My speeds are about 110 or 120ipm in the ini and it always stops at .01 past the software limit's.

I experienced that on some machines. If I remember correctly they were all closed loop. Are you running servos? A slight overshoot might be the culprit.

Steppers.

There is probably a parameter for acceptable overshoot. It has never gone past it.

Even in a fanuc you can set the distance past

Hi,
I am using servos in position control so I would expect the machine to decelerate smoothly then get bang on the soft limit.

Thank you for your answers.
Nicolas