John Kasunich wrote: > micges wrote: > >>> 1. my lathe has limit switches just outside the softlimit. Homing >>> works fine. Also, if I jog a joint >>> to its limit, jogging stops at the soft limit and wont bump into >>> the limit switch, which makes me believe the limit setup is ok. >>> >>> However, halui.joint.<..>.on-soft-max-limit remains false in this >>> case, which leaves me puzzled. >>> btw tripping the limit switch manually is reflected fine in >>> halui.joint.<..>.on-hard-max-limit . >>> >>> Does on-soft-XXX-limit work for other folks in this case? >>> >>> >>> >> Hi, >> >> This is not a bug, reporting soft limits to the user space (Axis, Halui) >> was removed some time ago. >> >> > > Why was it removed? > > Assuming that it was removed for a good reason, then there _IS_ a bug. > The halui.joint.<..>.on-soft-limit HAL pins should have been removed at > that time, since they no longer do anything. > > I think the reasoning is EMC2 never ALLOWS you to actually get beyond the soft limits, it is impossible by software control only, to actually trip this limit. In the case of an encoder-equiped machine, I think you could home an axis, go to estop, manually crank the the machine past the soft limit, and then when you come out of estop, it would trip the limit. I don't know whether the HAL pins would then show the limit exceeded condition.
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