My robot has L=1025mm R=366mm. I need a real speed of 5m/s. It’s normal for industrial robots like ABB, Adept Quattro ets.
Here I have maximum 1m/s ((
In my opinion, the limit is in the program’s algorithm.
Motor Nema 23, external driver.
arm_solution linear_delta # delta
alpha_steps_per_mm 256 # 125mm/rev *1/2.5(reducer) = 50mm, Pulses/rev = 12800 Steps per mm for alpha stepper = 12800/50 = 256
beta_steps_per_mm 256 # Steps per mm for beta stepper
gamma_steps_per_mm 256 # Steps per mm for gamma stepper
arm_length 1025.0 # this is the length of an arm from hinge to hinge
arm_radius 366.2 # this is the horizontal distance from hinge to hinge
gamma_max 88 # Высота присоски над столом
default_feed_rate 4000 # Default rate ( mm/minute ) for G1/G2/G3 moves
default_seek_rate 4000 # Default rate ( mm/minute ) for G0 moves
acceleration 10000 # Acceleration in mm/second/second.
junction_deviation 0.05 # Similar to the old “max_jerk”, in millimeters,
x_axis_max_speed 300000 # mm/min
y_axis_max_speed 300000 # mm/min
z_axis_max_speed 300000 # mm/min
alpha_max_rate 300000.0 # mm/min
beta_max_rate 300000.0 # mm/min
gamma_max_rate 300000.0 # mm/min
mm_per_arc_segment 0.5 # Arcs are cut into segments ( lines ), this is the length for
delta_segments_per_second 100 # for deltas only same as in Marlin/Delta, set to 0 to disable
planner_queue_size 32 # DO NOT CHANGE THIS UNLESS YOU KNOW EXACTLY WHAT YOU ARE DOING
microseconds_per_step_pulse 1 # Duration of step pulses to stepper drivers, in microseconds
base_stepping_frequency 100000 # Base frequency for stepping, higher gives smoother movement
acceleration_ticks_per_second 1000 # Number of times per second the speed is updated
I tried to make "delta_segments_per_second " 0. Anyway maximum speed is 60000 mm per minutes
How could increase the speed?
Imported from wikidot