home sequence

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01 Aug 2017 16:52 #96844 by jasen
jasen created the topic: home sequence
Hi , I am finishing new GUI , that is writen completely in C++
it is intended for retrofiting and new instalations

but I have and issue with the homing sequence. at startup I am using the folowing with parameter -1 ( all axes)

//
int sendHome(int joint)
{
EMC_JOINT_HOME emc_joint_home_msg;

emc_joint_home_msg.serial_number = ++emcCommandSerialNumber;
emc_joint_home_msg.joint = joint;
emcCommandBuffer->write(&emc_joint_home_msg);

return emcCommandSerialNumber;
} // sendHome

Then , to home independent axes on need I use the folowing

{
sendHome(activeAxis);
}
But that dos not work anymore as the machine after initial home enters in "world"mode
any idea what should I use?
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02 Aug 2017 20:33 #96938 by andypugh
andypugh replied the topic: home sequence
I think you will need to ask this on the developers mailing list if you want it seen by those likely to know the answer.
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02 Aug 2017 22:58 #96951 by dgarrett
dgarrett replied the topic: home sequence

But that dos not work anymore as the machine
after initial home enters in "world" mode any idea what
should I use?


In the master branch with joints_axes updates
(2.8~pre), once all joints are homed, the motion mode
is *automatically* switched from joint mode to teleop
(world) mode.

Homing is a joint activity not an axis (world
coordinate) activity so once succesfully homed (all
joints), you must switch out of teleop mode first in order
to unhome and rehome a joint in joint mode.

There may be unexpected behavior if the motion mode is
returned to teleop while one (or more) joints is (are)
unhomed.

If you are using shcom (shcom.hh,shcom.cc), you can use
sendSetTeleopEnable() (shcom.hh,shcom.cc) to return to
joint mode in order to unhome or rehome a joint.
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03 Aug 2017 20:02 #96986 by jasen
jasen replied the topic: home sequence
Well , thar was verry usefulk , problem solved. manny thanks.
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