Il giorno gio, 26/04/2012 alle 13.53 +0300, Viesturs Lācis ha scritto: > 2012/4/26 Michael Haberler <mai...@mah.priv.at>: > > > > The only gotcha I see is - this is coord mode, so its axes not joints > > input, this might be a bit confusing for an MPG and a non-trivkin machine > > Well, I think that it is great that it is axes, not joints... How will > You jog a puma robot straight up (not to break the tool that is in the > material) in joint mode? Or how will You jog hexapod? You will need to > jog all 6 joints simultaneously. And also You will need to pray to jog > all the joints correctly not to break machine. > > As I have said before - IMHO after homing joint mode is _never_ needed > for normal operation of machine. Especially non-trivial kinematics. > When something is wrong and debugging is needed - yes, then there > might be necessity for joint mode, but in normal operation I have not > come up with an example, why would operator ever need it. There is no > use in normal work for joint mode + non-trivial kinematics, but there > are lots of risks and potential problems associated with this. For > example, forget to switch to world mode after homing and try to jog a > gantry machine... > > Viesturs Viesturs, i completely agree with you. In fact there's what I think is a bug into Axis, when you are into world (or coord.) mode, then pass to MDI, then again to manual, you find your self into Joint mode. that can be very dangerous! in my case just annoying, but in every way, with a non-cartesian machine you find your self to re-home again.
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