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If you want to adjust your velocity, select Configure on the top menu bar, then Control. Select the Motors tab as
shown below.
In the right pane, click on the motor you want to set up (Click the word to highlight and select the axis). The checkbox
is for enabling/disabling the motor). The selected motor's parameters will be loaded and the velocity or acceleration
settings can be adjusted. For stepper motors, max acceleration is typically 15-20 if in standard units. For servo
motors, a value of 30-40 is typically best. The max velocity is limited by several factors, including the motor. If you
want an axis rapid speed to be limited or lowered, adjust the velocity for that motor to the max speed you want the
rapid to be.
Press [Apply] before clicking on another motor or closing out the Mach Configuration window. NOTE: If you change
the counts per unit, the velocity and acceleration values will adjust accordingly. If you do not want them to change,
type in the current values shown. Verify by clicking another motor and then coming back to the adjusted motor.
No limits have been set up. DEATH, INJURY or serious PROPERTY DAMAGE can occur if the system is
2.4
Backlash Calculation
The Apollo III has backlash compensation. Use the MDI line to enter G-Code to move the axes. To calculate the
machine's backlash, follow the steps below.
1. Move an axis in one direction farther than the maximum possible backlash.
2. Mount a dial indicator and zero it.
3. Move the axis again in the same direction for a specific distance (it doesn't matter
how far).
4. Move the axis backwards the same distance.
5. Note how far the dial indicator was off from zero to see the axis's backlash value.
6. Backlash is configured in the HiCON plugin. On the menu bar, go to Configure-
>Plugins and select [Configure] next to the HiCON plugin.
7. Select the desired motor tab and enter the value (see explanation below). Select
[OK] to save settings.
Backlash – This field sets the backlash amount in inches or millimeters, depending on the setup units. If there is more
than .002" of backlash there will likely be noticeable accuracy issues. Compensating for backlash is not a preferred
method of resolution. It is better to remove or greatly reduce backlash from the mechanics of the system.
Backlash Speed % – This field adjusts the maximum acceleration that the backlash counts can be applied. The Apollo
III takes the max acceleration of the motor and multiplies it by this percentage. Valid values are 10-400 (0.1 to 4 times
max acceleration). A common value is 20%.
Figure 15 Motor Setup
WARNING
not operated carefully.
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