On 27 September 2010 09:09, Sasa Vilic <[email protected]> wrote: > 1. I use original plasma-thc-sim configuration > 2. Start EMC and home axis > 3. Jog joints 1 and 2 > 4. Switch view to world mode > > Problem: Joint 1 following error
That config is a gantry kinematics setup. (ie one with two motors moving each side of an axis) Axis 1 uses joints 1 and 3. When you switch to world mode emc checks that the gantry position matches the joint 1 and 3 motor (joint) positions. As you have jogged joint 1 but not joint 3 this can not be resolved to an unambiguous axis position and a following error is the result. (I practice this would correspond to a badly racked gantry, so an error is appropriate) If you home the axes (homing Y will home joints 1 and 3 simultaneously) then it will switch to world mode correctly. It will also switch correctly if you jog joints 1 and 3 to be very close in position. My feeling is that for systems with semi-trivial kinematics (where the equations of motion do not vary with joint position) there should perhaps be an ini-file option to start up in world mode (but home in joint mode), to disable joint-mode jogging and to auto-switch to world mode when homed. Clearly not all combinations of these options make sense, and some can be achieved through HAL functions. -- atp ------------------------------------------------------------------------------ Start uncovering the many advantages of virtual appliances and start using them to simplify application deployment and accelerate your shift to cloud computing. http://p.sf.net/sfu/novell-sfdev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
