all joints must be homed before going into teleop

Hello...

I was trying to setup my machine but even in simulator I got strange error about homing/ when I want to go in world mode.

Here is procedure what I do and what I get.

- Start 5axis simulator
- press F1 (unlatch estop)
- press F2 (start machine)
- click joint 4
- press + to jog joint 4
- press key $ (go to world mode)
*** got error 'all joints must be homed before going into teleop mode'
but this is expected as joints arent homed..
now
- click on home (and all axes are homed)
- press key $ (go to world mode)
*** got error 'all joints must be homed before going into teleop mode'
but all joints are homed?

now to be more strange....
Restart 5axis simulator

- press F1 (unlatch estop)
- press F2 (start machine)
- press key $ (go to world mode)
*** no error. But axes aren't homed at all!

I assume there is an error/bug or I do something wrong!

Can someone test this behaviour to check if it's only in my machine. (well on my 2 machines works same)

Hello...

Seems taht noone was bothered with that.
I do little more investigationa and seems that we have bug in code.

so there is my procedure:

- Start 5 axis sim
- start machine (F1/F2)
- press right arrow (jog joint 0)
- press "home all" button (all joints got target as home signal)
- press $ key (go to world mode)
*** got error "all joints must be homed...."

now start hall meter and check:
axis.0.homed (true)
axis.1.homed (true)
axis.2.homed (true)
axis.3.homed (FALSE!!!!)
axis.4.homed (true)
axis.5.homed (true)
axis.6.homed (FALSE!!!!)
axis.7.homed (FALSE!!!!)
axis.8.homed (true)


in ini file data is:
[DISPLAY]
GEOMETRY = XYZBCW

[TRAJ]
AXES = 9
COORDINATES = X Y Z B C W

and axis sections included is:
[AXIS_0]
[AXIS_1]
[AXIS_2]
[AXIS_4]
[AXIS_5]
[AXIS_8]

As I see the problem is that we have GAP as axis A,U and V are not defined.
So the solution seems to be to define all the axis (and got in display all unneded letters) or to change (correct) the home test to check just the axis defined.

any sugesstion?

andypugh wrote:

I think you need an INI file section for every axis up to NUM_AXES, even the ones that are not used.
Just put sections in the INI for [AXIS_3], [AXIS_6] and [AXIS_7]
You _might_ need to give them a home sequence number and zero for search and latch velocity, but try them completely blank first.

I already do that.
It must have sequence number (0).

Yes homming works.