hey man ,please watch the ini file configuration .I simply ran the following two actions.
c.jog(linuxcnc.JOG_CONTINUOUS,0,15000) => jog(linuxcnc.JOG_CONTINUOUS,0,0)
The time taken for the motor speed to go from 15000 to 0 should be equal to 2.5s [ (Vt-V0)/a = t ] [(15000-0)/6000=2.5s] , but I used 5.8s actually by looking at the oscilloscope's display value. I am sure MAX_ACCELERATION = 6000.0
Is there a problem in my configuration? My motor uses position interpolation mode.
Code:
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
HOME = 0 0 0 0
#MAX_VELOCITY = 15
#MAX_VELOCITY = 600
MAX_VELOCITY = 210000
DEFAULT_VELOCITY = 500.0
DEFAULT_ANGULAR_VELOCITY = 0.25 #45
POSITION_FILE = position.txt
MAX_LINEAR_VELOCITY = 210000.0
MAX_ANGULAR_VELOCITY = 400.0 #90
MAX_ACCELERATION = 20000.0
NO_FORCE_HOMING = 1
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
HOME_OFFSET = 0
HOME_IGNORE_LIMITS = yes
BACKLASH = 0.000
MAX_VELOCITY = 210000.0
MAX_ACCELERATION = 6000.0
#MAX_ACCELERATION = 20000.0
FERROR = 400000
MIN_FERROR = 400000.5
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
HOME_OFFSET = 0
HOME_IGNORE_LIMITS = yes
BACKLASH = 0.000
MAX_VELOCITY = 210000.0
MAX_ACCELERATION = 6000.0
#MAX_ACCELERATION = 40000.0
FERROR = 400000
MIN_FERROR = 400000.5
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_FINAL_VEL = 15
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
HOME_OFFSET = 0
HOME_IGNORE_LIMITS = yes
BACKLASH = 0.000
MAX_VELOCITY = 2100.0
MAX_ACCELERATION = 6000.0
#MAX_ACCELERATION = 40000.0
FERROR = 400
MIN_FERROR = 400.5
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
