support: determine actual acceleration limits

[gavanderhoorn]

Acceleration limits currently specified in the Arm Navigation and MoveIt configuration packages are calculated values, not actual limits.

Todo: determine actual acceleration limits and update MoveIt configuration packages.

• M-10iA
• M-16iB/20
• M-20iA
• M-20iA/10L
• M-430iA/2F
• M-430iA/2P
• LR Mate 200iC
• LR Mate 200iC/5H
• LR Mate 200iD

[gavanderhoorn]

Closed by mistake. Reopening, as this is still an issue.

[gavanderhoorn]

This might now actually be possible - I've seen some interesting system variables on new controllers. But I don't know whether those values are correct/usable on older systems.

[jettan]

@gavanderhoorn Are the system variables you meant by any chance $CP_PARAMGRP[1].$jnt_acc_lim[*]? According to documentation this should be what we are looking for.

EDIT: Or maybe they are only for the Constant Path Motion function.

[gavanderhoorn]

The one you refer to is for constant path. But on recent controllers Fanuc seems to have added accell limit data where there used to be nothing.

[gavanderhoorn]

It's been some time, but with the appearance of Stream Motion we may actually be able to update the xacros with this information.

Wouldn't necessarily be the actual limits, but they will probably be close enough.

[gavanderhoorn]

Stream Motion limits are not the real limits of the hw.

It's doubtful any option on the controller gets to use the real limits, besides the main motion controller which TP uses.

As such, I'm going to close this.

[gavanderhoorn]

Furthermore: there is no single set of limits, they are payload, current pose and current velocity dependent.