2012/4/27 EBo <e...@sandien.com>: > > but I can see joint mode > being useful for setting up and calibrating.
Just like You mentioned - for setting up, calibration. I would add also troubleshooting and debugging. IMHO all of these things are outside "normal everyday use" realm. > Actually, this makes sense. How about this for safety then -- disable > joint mode in the normal interface and have a separate interface/program > for setup that can do joint mode? I think that this would over-complicate the implementation. I think that all is needed is a special INI file setting and, if that is "true", then make GUI or whatever place switch to teleop mode as soon as all joints are homed. There are HAL pins for that (halui.joint.n.is-homed), I tried to do this in HAL, but did not get it right. The idea was to take these "is-homed" pins and feed them through "and" gate (I had 5 joints in that machine, so I created and5 module). If "and" gate output is linked directly to halui.mode.teleop, then it will request that all the time. Also when there is attempt to execute g-code file. Basically it is needed to do this only once after the machine is homed, so I tried to do this on rising edges of "is-homed" pins, but this approach failed as I could not predict, how long time would be between first and last joint to get homed. So then I created homing sequence and added this only to last joint in sequence, but it still was not good. I could not figure out, what was wrong, so in the end I gave up on that idea. Is there a HAL module that would work as "set-reset trigger"? Rising edge on "set" input would set output true until there is rising edge on "reset" pin. I tried to find something like that, then I tried to create something like that, but also failed... I think that this could work - if the output of such trigger is passed through oneshot component to create a short signal (to halui.mode.teleop) on rising edge, then it would not repeat such a request until user specifically created a signal on "reset" pin. Either by pressing button (Jan would like that) or by some linking it to some M65 command to be activated in MDI or whatever. Viesturs ------------------------------------------------------------------------------ Live Security Virtual Conference Exclusive live event will cover all the ways today's security and threat landscape has changed and how IT managers can respond. Discussions will include endpoint security, mobile security and the latest in malware threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
