Axis MPG jog problem
11 Nov 2015 21:06 - 12 Nov 2015 19:57 #65138
by bkt
Axis MPG jog problem was created by bkt
Hi,
In my conf I add with succes a jog whell pendant ..... as suggest tutorial I insert the right row on my hal file ..... with trivialkins all work as I espect, but when change kins to deltakins, only axis gui can jog in world-mode or joint-mode too ... but whit my jog-whell can jogging only in joint mode .... in world-mode nothings move .. There are some reasons ? Using joint_axes can solve?
In my conf I add with succes a jog whell pendant ..... as suggest tutorial I insert the right row on my hal file ..... with trivialkins all work as I espect, but when change kins to deltakins, only axis gui can jog in world-mode or joint-mode too ... but whit my jog-whell can jogging only in joint mode .... in world-mode nothings move .. There are some reasons ? Using joint_axes can solve?
Last edit: 12 Nov 2015 19:57 by bkt.
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13 Nov 2015 18:44 - 17 Nov 2015 14:58 #65208
by bkt
Replied by bkt on topic Axis MPG jog problem
using Jog_Axes not solve [error]..... not understand why I have these difference on external jog between trivial and delta kinematics ... I use mesa 7i77 ... add hal file that i use ....
ERROR: because for some mistake JA isn't installed on my pc .......
ERROR: because for some mistake JA isn't installed on my pc .......
Last edit: 17 Nov 2015 14:58 by bkt.
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17 Nov 2015 15:39 #65376
by bkt
Replied by bkt on topic Axis MPG jog problem
for some mistakes I have not completed the installation and I did a lot of confusion . I not try JA .... for another I would keep ubuntu 4.10 ... you can get some version of JA fits with LCNC 2.7 ?
Regards
giorgio
Regards
giorgio
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18 Nov 2015 11:21 #65416
by bkt
Replied by bkt on topic Axis MPG jog problem
ok I have succesfully installed JA ..... but the issue not change .....
a piece of code of hal for joint jog .... the hm2 connection pis is sure and right ....
where is my mistake? ... I can jog with external hand wheel only in joint mode not in world mode .....
a piece of code of hal for joint jog .... the hm2 connection pis is sure and right ....
Warning: Spoiler!
# for axis x MPG
setp joint.0.jog-vel-mode 0
net selected-jog-incr => joint.0.jog-scale
net joint-select-a => joint.0.jog-enable # <= hm2_5i25.0.7i77.0.0.input-16
net joint-selected-count => joint.0.jog-counts #halui.jog.0.increment
# for axis y MPG
setp joint.1.jog-vel-mode 0
net selected-jog-incr => joint.1.jog-scale
net joint-select-b => joint.1.jog-enable # <= hm2_5i25.0.7i77.0.0.input-17
net joint-selected-count => joint.1.jog-counts #halui.jog.1.increment
# for axis z MPG
setp joint.2.jog-vel-mode 0
net selected-jog-incr => joint.2.jog-scale
net joint-select-c => joint.2.jog-enable # <= hm2_5i25.0.7i77.0.0.input-18
net joint-selected-count => joint.2.jog-counts #halui.jog.2.increment
# for axis a MPG
setp joint.3.jog-vel-mode 0
net selected-jog-incr => joint.3.jog-scale
net joint-select-d => joint.3.jog-enable # <= hm2_5i25.0.7i77.0.0.input-19
net joint-selected-count => joint.3.jog-counts #halui.jog.3.increment
# for axis b MPG
setp joint.4.jog-vel-mode 0
net selected-jog-incr => joint.4.jog-scale
net joint-select-e => joint.4.jog-enable # <= hm2_5i25.0.7i77.0.0.input-20
net joint-selected-count => joint.4.jog-counts # halui.jog.4.increment
# connect selectable mpg jog increments
net jog-incr-b => jogincr.sel0
net jog-incr-c => jogincr.sel1
net selected-jog-incr <= jogincr.out
#setp jogincr.debounce-time 0.200000
#setp jogincr.use-graycode False
#setp jogincr.suppress-no-input False
setp jogincr.in0 0.001000
setp jogincr.in1 0.010000
setp jogincr.in2 0.100000
setp jogincr.in3 1.000000
setp joint.0.jog-vel-mode 0
net selected-jog-incr => joint.0.jog-scale
net joint-select-a => joint.0.jog-enable # <= hm2_5i25.0.7i77.0.0.input-16
net joint-selected-count => joint.0.jog-counts #halui.jog.0.increment
# for axis y MPG
setp joint.1.jog-vel-mode 0
net selected-jog-incr => joint.1.jog-scale
net joint-select-b => joint.1.jog-enable # <= hm2_5i25.0.7i77.0.0.input-17
net joint-selected-count => joint.1.jog-counts #halui.jog.1.increment
# for axis z MPG
setp joint.2.jog-vel-mode 0
net selected-jog-incr => joint.2.jog-scale
net joint-select-c => joint.2.jog-enable # <= hm2_5i25.0.7i77.0.0.input-18
net joint-selected-count => joint.2.jog-counts #halui.jog.2.increment
# for axis a MPG
setp joint.3.jog-vel-mode 0
net selected-jog-incr => joint.3.jog-scale
net joint-select-d => joint.3.jog-enable # <= hm2_5i25.0.7i77.0.0.input-19
net joint-selected-count => joint.3.jog-counts #halui.jog.3.increment
# for axis b MPG
setp joint.4.jog-vel-mode 0
net selected-jog-incr => joint.4.jog-scale
net joint-select-e => joint.4.jog-enable # <= hm2_5i25.0.7i77.0.0.input-20
net joint-selected-count => joint.4.jog-counts # halui.jog.4.increment
# connect selectable mpg jog increments
net jog-incr-b => jogincr.sel0
net jog-incr-c => jogincr.sel1
net selected-jog-incr <= jogincr.out
#setp jogincr.debounce-time 0.200000
#setp jogincr.use-graycode False
#setp jogincr.suppress-no-input False
setp jogincr.in0 0.001000
setp jogincr.in1 0.010000
setp jogincr.in2 0.100000
setp jogincr.in3 1.000000
where is my mistake? ... I can jog with external hand wheel only in joint mode not in world mode .....
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18 Nov 2015 19:14 #65455
by bkt
Replied by bkt on topic Axis JA8 MPG jog problem
I not able to find a a solution for use "jog" with external MPG with my kustom deltakins and JA8 .... than my idea is using halui.mode.is-teleop signal as a toggle button, sum encoder count to joint.n.cmd.pos when halui.joint.N.is-selected ..... is something that can be done or we would have had problems ?
Tanks in advance for reply
Regrds
giorgio
Tanks in advance for reply
Regrds
giorgio
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