> Except that for I thought that many users the attraction of JA +
> neoTrivkins is that they can have a gantry that homes properly without
> having to fuss with world and joint modes.
Using KINEMATICS_BOTH, expected and common usage is to:
1) 'Home All' joints while obeying the HOME_SEQUENCE specifications
in the ini file for defined sequence sets of joints
2) Upon successful homing, the system automatically switches
from joint mode to teleop mode with no operator intervention
3) Individual joints can be unhomed/rehomed (after manually
selecting joint mode).
In many scenarios, the user never needs to invoke joint mode after
homing is accomplished.
Rehoming multiple joints that are associated with a single coordinate
is supported solely with the 'Home All' functionality.
> With "both" it appears not to be possible to re-home the gantry axis by
> itself.
src/emc/motion/homing.c supports homing of a) one joint or b) all joints
> In any case, selecting "home Z" probably shouldn't home half the
> gantry, which is the reported result.
An attempt to address the bad behavior described is done by disallowing homing
of an individual coordinate (when KINEMATICS_IDENTITY and a coordinate letter
is duplicated for use with more than one joint) in this new commit:
http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=commitdiff;h=7be62e6d5ee45ec18c731a67b3787bcc89e5f407
--
Dewey Garrett
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