I'm testing with the axis UI with master to see how I can pull status
data out in a format that is suitable for use with my Labview UI code,
and used the below code for one of my tests to see how the data is
formatted.
c = linuxcnc.command()
e = linuxcnc.error_channel()
s = linuxcnc.stat()
s.poll() # get current values
for x in dir(s):
if not x.startswith("_"):
print (x, getattr(s,x))
The data I get back looks good except I have a question as to why there
are 16 joints (jointType) under the 'joint' heading reported.
I aligned the data in the list supplied below to make it easy to read
and noticed that Y axis is not giving its data correctly. I'm not used
to using the axis UI so that may be causing that particular problem.
In the below partial listing why are there 16 jointType's reported. does
that not exceed the number of joints that Linuxcnc can handle?
-----------------------------------------------------
ini_filename /home/cnc/linuxcnc/configs/cnc1/cnc1.ini
inpos True
input_timeout False
interp_state 1
interpreter_errcode 0
joint (
{'jointType': 1, 'units': 0.03937007874015748, 'backlash': 0.001,
'min_position_limit': -50.0,
'max_position_limit': 50.0, 'max_ferror': 5.0, 'min_ferror': 5.0,
'ferror_current': 0.0,
'ferror_highmark': 0.15607306025994486, 'output':
-0.15607306025994486, 'input': -0.15607306025994486,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 0.03937007874015748, 'backlash': 0.001,
'min_position_limit': -50.0,
'max_position_limit': 50.0, 'max_ferror': 5.0, 'min_ferror': 5.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': -0.0, 'input': -0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0,'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 0.03937007874015748, 'backlash': 0.0035,
'min_position_limit': -50.0,
'max_position_limit': 50.0, 'max_ferror': 5.0, 'min_ferror': 5.0,
'ferror_current': 0.0,
'ferror_highmark': 0.642992024419062, 'output': -0.642992024419062,
'input': -0.642992024419062,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 2, 'units': 1.0, 'backlash': 0.001,
'min_position_limit': -50.0,
'max_position_limit': 50.0, 'max_ferror': 5.0, 'min_ferror': 5.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0},
{'jointType': 1, 'units': 1.0, 'backlash': 0.0, 'min_position_limit':
-1.0,
'max_position_limit': 1.0, 'max_ferror': 1.0, 'min_ferror': 1.0,
'ferror_current': 0.0,
'ferror_highmark': 0.0, 'output': 0.0, 'input': 0.0,
'velocity': 0.0, 'inpos': 1, 'homing': 0, 'homed': 0, 'fault': 0,
'enabled': 0, 'min_soft_limit': 0,
'max_soft_limit': 0, 'min_hard_limit': 0, 'max_hard_limit': 0,
'override_limits': 0})
joint_actual_position (-0.15607306025994486, -0.0, -0.642992024419062,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
joint_position (-0.15607306025994486, -0.0, -0.642992024419062, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
joints 4
kinematics_type 1
limit (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
linear_units 0.03937007874015748
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