In trying to figure out why halui breaks non-trivial configs (if you load halui then the machine will tend to drop into joint mode at inconvenient times) I found that manual mode seems to be explicitly expected to be "free".
http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=src/emc/task/emctask.cc;h=e84b63b0dfb92d2b73c770f4bd4985a62b5a7481;hb=refs/heads/v2.5_branch#l201 In fact, putting traj into "free" mode seems to be all that setting the system to manual does. It seems that Axis issues a "set manual mode" then immediately goes back to joint or world mode when you switch tabs between manual and MDI (using its own idea of the current mode). At this point I hit a bit of an impasse, because I don't actually know what the "manual" "auto" and "mdi" modes are actually for, and what each one really means. Do the new GUIs (gscreen and gmoccapy) make a point of resetting mode to teleop (or do I mean coordinated) after a set-manual? My feeling is that the "Manual" tab in Axis and the concept of "manual mode" are confused, and may refer to different things by the same name. To experiment, try the sample config gantry/gantry and note how the axis/joint representations switch as you swap between manual and MDI tabs, both when homed and not homed, in world mode and joint mode. Then alter the config to load halui and see how things become different. I think I have seen things change only by loading halui, but things can get even more mixed up by running an MDI command (there is an explicit set_manual_mode at the end of an MDI_COMMAND) and that puts traj in free, but leaves Axis thinking that things are in World) halui.mode.joint is another way to confuse matters. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
