I've done some work on joints_axes9 recently. (latest work is
a test branch anticipating joints_axes10: dgarr/ja10v2 rebased
on master commit 638aba7)
Sim configs are used to verify/test operation with different
kinematics modules ([1]). Most sim configs are working ([2] for
moreinfo), but two guis seem to be broken in the current release
branch ([3] for context and more info):
mini -- fails at startup in 2.7 (with tk8.6, starts with tk8.5)
keystick -- jogging doesn't work correctly in 2.7
I have never heard of anyone using either of these guis in recent
years and suggest removing them in git-master unless someone volunteers
to update and maintain them.
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1) Kinematics testing resources:
trivkins------------identity kins with fixed assignments
(joint0-->X, joint1-->Y, etc.)
(with trivkins, it is sometimes necessary
to employ dummy axes, e.g., configure
a lathe (XZ) as a three axes machine
with an unused Y axis)
gentrivkins---------identity kins with assignments defined with
a module parameter: 'coordinates='
(default assignments are trivkins)
non-identity kins---no required joints/axes correspondence
(lineardeltakins for example)
A youtube video shows some testing of jogging modes:
https://www.youtube.com/watch?v=TdvcHJeDoEI
Some example sim configs used in testing are:
configs/sim/axis/ldelta_demo.ini
configs/sim/axis/gentrivkins/*.ini
configs/sim/tklinuxcnc/ldelta.ini
-----------------------------------------------------------------------
2) WORKING GUIs
axis -- works with trivkins, gentrivkins, non-identity kins
tklinuxcnc -- works with trivkins, gentrivkins, non-identity kins
halui -- works with trivkins, gentrivkins, non-identity kins
linuxcncrsh -- works with trivkins, gentrivkins, non-identity kins
(to jog in joint, issue: 'set teleop_enable off')
(to jog in teleop, issue: 'set teleop_enable on')
touchy -- works with trivkins
(error reported if jog attempted in teleop mode)
gscreen -- works with trivkins
(if teleop, jogging causes auto switch to joint mode)
gmoccapy -- works with trivkins
(error reported if jog attempted in teleop mode)
xlinuxcnc -- works with trivkins
(error reported if jog attempted in teleop mode)
linuxcnclcd -- (emclcd.cc)
seems to require special hardware but there is
no documentation (2.7), emclcd.cc says:
"This program implements a limited user
interface on an LCD display and keypad,
such as the MX4 series made by Matrix Orbital.
http://www.matrixorbital.com
The layout is for a 4 line by 20 character
display.
Supported interfaces include Serial and USB."
last substantive update: a7d1300 2008-11-10
Since it uses the jog functions provided by
shcom.cc, i've made the same updates as in
other programs (emcrsh.cc, emcsh.cc (tklinuxcnc))
so it should likely work in the default
joint mode and work for identity kins.
-----------------------------------------------------------------------
3) NON-WORKING GUIs
Testing Context:
LinuxCNC 2.7.3
Debian jessie
4.1.0-0.bpo.2-rt-amd64
tcl_version:8.6, tk_version:8.6
2.1) mini
$ linuxcnc configs/sim/low_graphics/mini.ini
At startup:
"Error in startup script: cannot use geometry manager grid
inside .top.left which already has slaves managed by pack"
Tested on: Lucid,2.6.32-122-rtai, LinuxCNC 2.7 (at commit 6f1195e)
and the mini gui starts. This system has tcl/tk 8.5 -- so i
would guess the problem relates to incompatibilites in the with
the geometry managers in the later version of tk (8.6)
2.2) keystick.ini
$ linuxcnc configs/sim/low_graphics/keystick.ini
F1 (Estop off)
F2 (Machine On)
F3 (Manual Mode)
then test jogging:
continuous:
moves on first keypress/release (arrow key, x axis)
no move on next keypress/release
incremental:
similar wrong behavior
similar results negative results for:
Lucid,2.6.32-122-rtai, LinuxCNC 2.7 (at commit 6f1195e)
--
Dewey Garrett
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