Hi all,
Ok, setting NO_FORCE_HOMING got it. Thanks Michael.
Next question. Did something change on the handling of "abort". In auto mode
with a program running, I used to be able to send an abort command to stop
execution, and the step number would reset to zero.
Now when I issue an abort, I get an error "Can't do that
(EMC_TRAJ_SET_TELEOP_ENABLE) in auto mode with the interpreter idle." I did
not issue a teleop_enable, only an abort. Axis apparently handles this, as I
don't get that error when issuing an abort (stop) from it. It does not set
the step number back to zero as it used to however.
The procedure doing the abort, sendAbort does the following:
int sendAbort()
{
EMC_TASK_ABORT task_abort_msg;
task_abort_msg.serial_number = ++emcCommandSerialNumber;
emcCommandBuffer->write(task_abort_msg);
if (emcWaitType == EMC_WAIT_RECEIVED) {
return emcCommandWaitReceived(emcCommandSerialNumber);
} else if (emcWaitType == EMC_WAIT_DONE) {
return emcCommandWaitDone(emcCommandSerialNumber);
}
return 0;
}
It is in shcom.cc and used by emcsh, emcrsh and emclcd.
Regards,
Eric
by defining [TRAJ]NO_FORCE_HOMING = 1 an integrator can chose to override
the default behaviour of not allowing MDI and Auto before the machine has
been homed.
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