I have electro-mechanical brakes and resolvers on 6-axis robot and would like to restore last positions of joints between LinuxCNC sessions. I tried to use position file and it seems to work perfectly, except when using HOME_OFFSET. In such case the restored positions are wrong.
My idea is to avoid homing, because it would not be needed with resolvers and brakes all the times LinuxCNC quits normally. I am thinking of two ways: 1. Make two ways of "homing" - one for normal use, just set all joints as homed, and another one when referencing is lost and a real re-homing is needed. I don't know how to set up this yet. 2. Make smart homing of my own, which decides what to do.. Anyway, I feel that I will not be able to set axis-is-homed from a hal component. But I can imitate home-switch-in signals. More thoughts?.. ------------------------------------------------------------------------------ November Webinars for C, C++, Fortran Developers Accelerate application performance with scalable programming models. Explore techniques for threading, error checking, porting, and tuning. Get the most from the latest Intel processors and coprocessors. See abstracts and register http://pubads.g.doubleclick.net/gampad/clk?id=60136231&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
