2012/4/26 Jan de Kruyf <jan.de.kr...@gmail.com>: > yes, but hexapods and robots are a problem >
There is no way to jog single joint on hexapod without causing damage to the construction of machine! Jogging in "joint" mode is dangerous with machines with parallel kinematics, including gantries. It is awkward for serial kinematics machines (puma robots etc), but not that dangerous, although still very risky for unsuspecting operator. One of my clients is company with hundreds of employees and they usually are rotating their tasks, so AFAIK the number of people that are working with my machine is at least 10. There is no way I can ask everyone of them to instruct, how to work with LinuxCNC. And I do not have illusions that they would read written instructions. So the only option - KISS, remove any chance to mess something up. And jogging in joint mode for non-trivial kinematics is one of them. Regarding gantries - if only one side has hit the limit switch, I see 2 general cases: 1) gantry is still straight, limit switches on both sides are not at the same coordinates for each joint or something else. Jogging each joint separately _not_ necessary, as it will rack the gantry and actually make things worse. 2) gantry is not straight, one joint has traveled more than the other. Jogging each joint separately _is_ necessary for both moving off the limit switch and (more or less) line up gantry. There is some problem with machine to be solved for gantry joints having different travel distances. The second case needs jogging in joint mode as there is a problem with the machine, so it lies outside "normal operation of machine" realm. That is why I think INI option to enable/disable joint mode availability to user would be great. In second case operator could close LinuxCNC, set INI value to enable joint mode, start LinuxCNC, jog off the limit switch, home the machine (which would be needed anyway, since previously LinuxCNC's coordinate of that joint did not match the actual position, otherwise gantry would still be straight) and solve the cause. Viesturs ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
