Andy > I'm using the kinematics from here: http://wiki.linuxcnc.org/cgi-bin/wiki.pl?ContributedComponents#millkins_trivial_kinematics_extended_by_XY_skew_correction. And setting the machine in teleop by Show hal parameter-> command: "setp halui.mode.teleop 1", that changes from joint mode to teleop mode.
"I tried setting up a sim config using the millkins.c file. It seems to behave exactly like trivkins, and stops short of the soft limits." Are you absolutely sure you are in teleop mode? Have you set the skew factor so you see that it behaves different between joint and teleop mode (correcting the skew or not)? You can also tell you are in teleop by that you can not jog incremental, only continuous. Once you are, you should be able to jog into soft limit, machine prints a joint limit warning and stops, then you should be able to continue to jog towards limit switch. Further browsing the code I found this: http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=src/emc/motion/teleop-notes;h=079041cb35a1e5f8978499a7e0eaf261709f8cac;hb=refs/heads/master On row 48 there is a hint that joint limits can't be obeyed in world/teleop mode, but I do not know if this document is up to date. "Try running configs/sim/tklinuxcnc/tripod for an example of a GUI that you can switch between joint and world mode jogging." Perfect example. And that brings us to that not only should the motion obey joint limits, optimally, one should/could set a cartesian defined operational space that the machine should obey. In the tripod example, that could be a cylindrical constraint of the X any Y cartesian world around the Z axis if that is the center of the tripod. In a more complex situation, take a robot arm with base, knee, elbow, wrist etc. This machine could have a very complex cartesian space that must be obeyed by the controller. But how would one enter this complex space in the INI files? Can't recall I have seen anything in this matter in the documentation, if not already, it should be a future function. 2013/3/7 Matt Shaver <[email protected]> > On Thu, 7 Mar 2013 21:25:22 +0000 > andy pugh <[email protected]> wrote: > > > What do you mean by "Teleop" mode? > > http://www.linuxcnc.org/docs/html/code/Code_Notes.html#_teleop > > Try running configs/sim/tklinuxcnc/tripod for an example of a GUI that > you can switch between joint and world mode jogging. > > Thanks, > Matt > > > ------------------------------------------------------------------------------ > Symantec Endpoint Protection 12 positioned as A LEADER in The Forrester > Wave(TM): Endpoint Security, Q1 2013 and "remains a good choice" in the > endpoint security space. For insight on selecting the right partner to > tackle endpoint security challenges, access the full report. > http://p.sf.net/sfu/symantec-dev2dev > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > ------------------------------------------------------------------------------ Symantec Endpoint Protection 12 positioned as A LEADER in The Forrester Wave(TM): Endpoint Security, Q1 2013 and "remains a good choice" in the endpoint security space. For insight on selecting the right partner to tackle endpoint security challenges, access the full report. http://p.sf.net/sfu/symantec-dev2dev _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
