> Also, the manpage for motion needs updated to reflect > that "axis letter of axis" is now "joint.#. of" with a > slight change in syntax to numerical. Hooking up to the > jog-inputs caught me out for a bit.
In the master branch, as updated for joints_axes, there are hal pins for wheel jogging in jointmode and _different_ hal pins for jogging axes (coordinate letters) in world (teleop) mode. The motion man page identifies the hal pins correctly: joint.N.jog-counts IN S32 joint.N.jog-enable IN BIT joint.N.jog-scale IN FLOAT joint.N.jog-vel-mode IN BIT axis.L.jog-counts IN S32 axis.L.jog-enable IN BIT axis.L.jog-scale IN FLOAT axis.L.jog-vel-mode IN BIT N specifies numerical joint jumbers. L specifies axis coordinate letters. Support for wheel jogging in joint and world modes is specifically described in the documentation chapter for 'Updating LinuxCNC': http://linuxcnc.org/docs/devel/html/getting-started/updating-linuxcnc.html#_hal_changes_updates_for_joints_axes In general, joints are not the same as axes although the distinctions may be hidden from the user by the graphical user interface (the axis gui for instance) when using IDENTITY kinematics (trivkins for instance). Coordinates are 'homed' by moving joints in jointmode in accordance with home switch closures and the homing procedures as specified with inifile settings for each joint (settings like [JOINT_N]HOME_* = value). Upon successful homing of all joints, a gui (axis for instance), will typically change from joint to world mode operation. This automatic transition may not be apparent to a user when identity kinematics are used. Once homed, returning to joint mode is seldom needed so in many configurations, wheel jogging is only wanted for world mode operations and the hal pins for joint jogging are not used. -- Dewey Garrett ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
