On 9/3/2013 2:13 PM, Bob Weiss wrote: > On Tue, Sep 3, 2013 at 3:24 AM, > <[email protected]>wrote: > >> Are you switching to "World" mode? >> >> When you first start a non-trivial kins you are in "Joint mode". With >> the Axis GUI that shows the joints as numbers, and each motor jogs >> individually. >> >> When you switch to "World" mode the axes become XYZ etc. You can do >> this from the menu, or by using the $ shortcut. >> >> If you are already doing this, then perhaps try "lsmod | grep kins" at >> the command line to see if the system really has loaded >> lineardeltakins, rather than trivkins. > > I tried to switch to World mode and it gives me an error saying all joints > must be hommed before going into teleop mode. > > I then hommed all axis and 0, 1 & 2 all went to 0 on the MDI with a * next > to them all. It still said the same error message when I tried again. It > seems like it wants axis(joint) 3 to be hommed also since that one still > shows -0.00 with no * next to it. That is the extruder and there is no > home for this axis. How can I get around this? I have the search_vel and > latch_vel lines for all 3 axis's #out (commented) so technically no home or > limits on machine. Axis 3 doesn't have this either. > > I also tried the "lsmod | grep kins" line at prompt and it just returns > back to the command prompt without doing anything or showing anything ?? > Did I type it wrong?
lsmod doesn't apply in this case. You're not using loadable kernel modules with the user-mode xenomai, so the appropriate command would be halcmd show comp (off the top of my head). > It won't let me do any MDI commands either while not hommed.. > > Ideas?? Make sure all axis are zeroed, including the extruder. The machine won't move if any axis is not zero'd. I'm not sure what GUI you're using, but in Axis, you just zero the extruder like any of the other joints/axis. -- Charles Steinkuehler [email protected]
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