On 07/18/2016 02:19 PM, John Kasunich wrote: > I agree with Niemand that LinuxCNC should not switch to > joint mode without an explicit operator request. All of the > use cases I can think of for individual joint movement > need care on the part of the operator. Dropping him into > joint mode unexpectedly and treating the next axis jog > as a joint jog is not good.
I can think of one situation where the controller should drop to Joint mode un-asked (for some definition of "un-asked"): when a VOLATILE_HOME joint loses power (for example due to an E-stop). (Maybe marking a joint as VOLATILE_HOME *is* a kind of asking for this.) > Today, we don't make a distinction between those two > types of jogs, because in three-axis space you don't care. Yesterday we didn't, but today we do. The master branch now includes the Joints/Axes branch, which has separate interfaces for jogging Joints and Axes: the EMC_JOG_* commands from the UIs to Task and the EMCMOT_JOG_* commands from Task to Motion now specify if we're jogging joints or axes. Upon receipt of a JOG command, Motion verifies that it's in the correct Free/Teleop mode for the kind of jog requested (Free for joint jogs, Teleop for axis jogs). Mismatch here results in abort. Possibly Motion could try to switch its mode to match the requested jog, and only abort if the mode-switch fails (for example, if an axis jog is requested on an un-homed non-id-kins machine). > This train of thought leads me to think that the the > existing manual mode needs to be split into joint-manual > (FREE) and axis-manual (TELEOP). That might work... I think the distinction between Motion's Free and Teleop modes, when Task is in Manual, is whether the machine is homed or not. If it's homed, it should default to Teleop, otherwise it should default to Free. (And the user should be able to override "by hand" whenever possible, even if it's dangerous.) So I think I just talked myself into another change to Norbert's/Niemand's suggestion: Switching Task to Manual should cause Task to switch Motion to Teleop if the machine is all homed, and to Free if is is not all homed. -- Sebastian Kuzminsky ------------------------------------------------------------------------------ What NetFlow Analyzer can do for you? Monitors network bandwidth and traffic patterns at an interface-level. Reveals which users, apps, and protocols are consuming the most bandwidth. Provides multi-vendor support for NetFlow, J-Flow, sFlow and other flows. Make informed decisions using capacity planning reports.http://sdm.link/zohodev2dev _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
