Hello, folks! I have a question, regarding EMC2 switching from joint mode to world mode.
The thing is that I wanted to get EMC2 automatically jump to world mode immediately after homing all joints. So in the HAL file I loaded and2 module, took axis.4.homed and axis.5.homed to input pins of and2 module and output pin was linked to halui.mode.teleop Any joints that are the last in the homing sequence can be used here. Additionally I created small pyvcp panel with 4 leds, each linked to one of the following pins: halui.mode.is-joint, halui.mode.is-teleop, halui.mode.is-manual, halui.mode.is-mdi to check, if the modes change correctly - since I was expecting necessity to adjust HAL file and thus restart EMC for more than just few times, it seemed easier approach than opening 4 HAL Meter windows and for each of them - scrolling and selecting the pin to watch each time EMC starts up. There are always 2 LEDs on - joint mode or teleop mode and manual or MDI mode. I did not try auto mode. So I started EMC, pressed ctrl+home, all joints homed and EMC2 jumped to world (teleop) mode! So far so good... So I thought that problem is solved, but then comes the mystic part: 1) When I select MDI tab, I see that, while MDI mode is activated, EMC2 also jumps back to joint mode 2) When I go back to Manual control tab, EMC goes from MDI to manual mode, but remains in joint mode. 3) When I do not use (comment out all the associated lines) and2.0 module, EMC2 correctly switched from joint to teleop mode, when going from MDI to manual mode My first question: 1) what is the reason for EMC to go to joint mode, when selecting MDI? is that intended behavior or a bug? 2) how do I fix that EMC does not return to teleop mode, when going from MDI to manual mode, when I use and2.0 module? Should I add a line to reset and2.0.out pin? I tested and replicated this behavior on my waterjet with EMC 2.4.5 and also on sim-axis sample config with EMC 2.4.6 Thanks in advance! Viesturs ------------------------------------------------------------------------------ Lotusphere 2011 Register now for Lotusphere 2011 and learn how to connect the dots, take your collaborative environment to the next level, and enter the era of Social Business. http://p.sf.net/sfu/lotusphere-d2d _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
