OK, I think I found the problem, but I will need help to solve this issue!
I do not know C++, sorry:
Please take a look at emc/task/emctask.cc
around line 223
switching to EMC_TASK_MODE_MANUAL sets the trajectory mode to
EMC_TRAJ_MODE_FREE
IMHO that should not be this way, if we come back from MDI or AUTO,
being in EMC_TRAJ_MODE_COORD
So there should be
if emcTrajMode == EMC_TRAJ_MODE_COORD:
return
else:
emcTrajSetMode(EMC_TRAJ_MODE_FREE)
Can anyone fix that bug?
Thanks
Norbert
Am 17.07.2016 um 15:44 schrieb Niemand Sonst:
> Hallo,
>
> working on branch gmoccapy_JA_based_on_master I stepped over the
> following problem.
> To follow my comments, just get the mentioned branch and use
>
> /sim/gmoccapy/gmoccapy_JA/gantry_mm.ini
>
> * get out of estop,
> * switch on the machine
> * home all axis
>
> OK, now we are in world coordinates (XYZ), that is OK, as
> "on_hal_status_all_homed" in gmoccapy.py switch automatically to world
> mode.
>
> Please change to MDI, ok we are still in world coordinates (you can see
> the mode as the dro will be displayed in gremlin if you are in Joint mode)
>
> Change back to Manual, why we are now again in JOINT coordinates???
> The button in gmoccapy does nothing else than setting manual mode with
> the command self.command.mode(linuxcnc.MODE_MANUAL)
> but hal_glib.py (this is the "hal_status widget" from glade) does
> receive a change of motion mode, as self.stat.motion_mode has a changed
> value.
>
> AXIS does not do that, as it does not use hal_glib.py . But I do not
> understand, why the motion mode change back to JOINT automatically if we
> get back to manual mode. That signal should not be emitted.
> By the way we receive 3 modes: Mode = 1 = Joint ; Mode = 2 = MDI ; Mode
> = 3 = World; IMHO that is also strange.
>
> Could you please help to avoid the mode change on going back to Manual.
>
> Norbert
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