2012/4/11 Sebastian Kuzminsky <[email protected]>: > On 04/10/2012 11:57 PM, Viesturs Lācis wrote: >> 2012/4/11 Andy Pugh<[email protected]>: >>> I suspect very few people understand the difference between coordinated >>> mode (N-Bahnsteuerung) where multiple joints move at the same time to make >>> the tool move in XYZ space under operator control and "Teleop" mode >>> (1-Bahnsteuerung) where the operator controls a single selected joint at >>> any one time. I _think_ "Teleop" and "Joint mode" mean the same thing. >> I cannot agree about the "teleop" mode - it definitely is not the same >> as "joint" mode. On my robot, in "teleop" mode kinematics were applied >> (in "joint" mode kinematics are _not_ applied), I could jog the tool >> along X, Y or Z, but one of them at a time (IIRC that is true for any >> non-trivial kinematics machine - cannot jog along 2 Cartesian axes at >> a time). So I would say that "teleop" is something inbetween "joint" >> and "coordinated" modes. > > The motion controller has three modes, called "free", "teleop", and "coord". > > Free mode is used for jogging individual joints (motors), independently > of all other joints. Free mode ignores kinematics. > > Teleop mode is used for jogging in cartesian space. This uses kinematics > to (optionally) move multiple joints together as needed to implement a > continuous jog in "world coordinates". > > Coordinated mode is used for planned motion in cartesian space. This > uses kinematics (like teleop mode), but instead of just doing a > controlled-velocity jog in cartesian space, it uses the trajectory > planner to implement queued motion commands from gcode. > > This is described somewhat in the Developer's Guide: > http://linuxcnc.org/docs/2.5/html/code/Code_Notes.html#_free > > But note that the GUIs (Axis et al) sometimes obscure these modes of the > underlying motion controller. >
Thank You for the explanation and link! I have always wanted to understand these modes. Could You, please, explain, how do these three: - free - teleop - coord modes relate to these three: - manual - mdi - auto Is it that each group of them actually affect different things? I mean - first three affect use of kinematics and trajectory planner, but the second might affect task planner. Is that true? My experience from playing with different modes, tell me that modes from first group are pretty much like "tied up" with the second group - "auto" mode will go together only with "coord" etc, there are some fixed relations between these two groups, but I have not found any place, where this would have been documented. Viesturs ------------------------------------------------------------------------------ Better than sec? Nothing is better than sec when it comes to monitoring Big Data applications. Try Boundary one-second resolution app monitoring today. Free. http://p.sf.net/sfu/Boundary-dev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
