- Configuring LinuxCNC
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- Limiting keyboard jog accelerations after 2.7.15->2.9.3 Upgrade
Limiting keyboard jog accelerations after 2.7.15->2.9.3 Upgrade
- Peto
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I upgraded my router from 2.7.15 to 2.9.3 and found out that jogging acceleration limits from XHC-HB04 config are no longer applied to keyboard jogs. MPG jogs are limited by new pins jog-accel-fraction for joints and for axes, tho. I have read a comment to a commit that introduces this change and it confirms, that keyboard jog accelerations are no longer limited. The thing is, that my machine's max accelerations are too scary to be used in manual jogging moves, and I would like to limit them as it was in 2.7.15.
I did not found any other way to limit the keyboard jogging accelerations other than bringing back the old deprecated mpg-accel script functionality, that muxed the accel values to ini component during jog.
Any thoughts if this could be achieved in other way?
Thank for all feedback.
My setup: (Axis screen, simple servo with stepper outputs to servo drivers from 5i25/7i76 combo)
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- andypugh
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The Axis GUI has a jog-speed slider. You should be able to limit jog speed there? (But I think that rapid shift-jog probably still goes at full speed)
It looks like you should be able to set a MAX_LINEAR_VELOCITY in the [DISPLAY] section that will limit max jog speed.
github.com/LinuxCNC/linuxcnc/blob/master...cripts/axis.py#L3443
(This should not affect the overall machine max speed which is [TRAJ]MAX_LINEAR_VELOCITY
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- Peto
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Does it? Isn't the eoffset movement acceleration controlled by ini setting for each respective axis with OFFSET_AV_RATIO?accel-fraction is intended to be used for external_offsets
I thought that accel-fraction is used for limiting jog acceleration only.
I don't want to limit velocity but acceleration. My servo motors are powerful and go to max velocity instantly because acceleration is not limited. Limiting the acceleration during keyboard jogs will limit jerk and rapid grow of jog movement speed.axis.L.jog-accel-fraction IN FLOATSets acceleration for wheel jogging to a fraction of the INI max_acceleration for the axis. Values greater than 1 or less than zero are ignored.
I think there should be a user friendly way of limiting acceleration for keyboard jogs.
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- andypugh
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Though it is mainly intended for MPGs so that the machine doesn't shake to bits responding to each MPG pulse individually
What was limiting the accel previously? I am not sure what has changed to affect this. Is the behaviour the same for both joint and axis jogging (ie, before and after homing)
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- Peto
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xhc-hb04.tcl use *.jog-accel-fraction pins
instead of mulitplexing reduced accels to ini.*.max_acceleration. Notes: 1) the prior multiplexing to ini.*.max_acceleration pins required a helper script (scripts/xhc-hb04-accels) since the ini pins are not available until task started. 2) the fractional accel settings apply only to wheel jogging (not other forms of jogging using nml commands)
The xhc-hb04-accels script is marked as obsolete and not used since 2.8~pre. The new suggested solution, to use *.jog-accel-fraction pins does not cover the keyboard jogs. Only MPG jogs.
Link to xhc-hb04-accels script from v2.7.15
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- cakeslob
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DEFAULT_LINEAR_ACCELERATION = 2.0 - In machines with nontrivial kinematics, the acceleration used for "teleop" (Cartesian space) jogs, in machine units per second per second.
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- Configuring LinuxCNC
- Basic Configuration
- Limiting keyboard jog accelerations after 2.7.15->2.9.3 Upgrade