Speed limitation close to software limit by traj planner

Hi all,
regarding this topic,I obverse a different behaviour regarding if the motor is homed or not.
If it is homed, the axis min position limits the motion. If it is not homed, the joint min position does not seem to be effective.
Any idea why?

Thank you,
Nicolas

That is normal.
The machine should not be used without being homed first.

Hi,
ok, that sounds perfectly normal. I am just wondering then why do you define min and max limit for the joints in the ini file?
Is it if the hard limit switch is triggered to get a value for the machine position, or is it for display reason of the machine limits in gremlin or axis?
Thank you,
Nicolas

The hard limits are to prevent machine damage from a faulty encoder or a large amount of lost steps or slippage of the coupling.

Ideally you would set them a little after home and min limit.

so in a perfect world you will never hit your hard limit switches only software limit

Because in some machines say robots, you can move the joints individually after homing, so they need limits of their own.

Chris

Nico2017 wrote: Hi,
ok, that sounds perfectly normal. I am just wondering then why do you define min and max limit for the joints in the ini file?
Is it if the hard limit switch is triggered to get a value for the machine position, or is it for display reason of the machine limits in gremlin or axis?
Thank you,
Nicolas

AFAIK these definitions are used to set the soft limits after the machine has been homed.