Am 07.10.2013 um 09:08 schrieb Steve Blackmore <[email protected]>:
> On Sun, 6 Oct 2013 18:10:18 -0400, you wrote: > > >> Just keep in mind that for a lathe, Z is not likely to be the >> last move of a restore. > > Hi Steve, as you probably know Mach has the option to choose, and to set > a safe height. Unfortunately any axis chosen may not be the "right one" > for that job. I have that automatic move disabled - easier and safer to > MDI or jog back to a suitable position then resume with a straight move. using HAL pins for the offset pose on pause and resume brings the (theoretical) option to modify the offsets depending on machine state by a HAL comp > Often I've only moved one axis anyway, most common are X on the lathe or > Z on the router or mill if clearing swarf. I jog near the work again, > restart spindle, then press resume. > > Reminds me - must be able to toggle spindle off/on during pause. thats a good point, that would likely also suggest at-speed before reentry if the spindle is turned on if we use the offset pose scheme this is how it could work for resume: honor NML spindle commands if the resume offset pose is zero: wait for at-speed before starting reentry move else: move to resume pose wait for at-speed at resume pose start reentry move sounds right? -Michael ps - blue sky: whatever we decide, the choices will be limited by the 'react to HAL pin' model in the - currently limited - context of actions initiated by motion itself during pause a more general solution would be possible if we had a way for say a Python HAL component to issue motion commands this would suggest a generalisation of the 'switchable motion queue' concept: on certain actions, say pause, motion switches to a different queue and processes commands from there until a switchback operation is generated now commands to this alternate queue could come from a HALcomp - for programmable behavior; or an interpreter - for MDI during pause 'pause' gets a slightly different meaning: besides 'rest this queue' it also means 'switch to an empty queue until told otherwise' the switching operations need thought wrt saving/restoring state ------------------------------------------------------------------------------ October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register > http://pubads.g.doubleclick.net/gampad/clk?id=60134791&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
