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about the machine limit lines

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26 Jan 2012 16:00 - 26 Jan 2012 16:02 #17165 by dab77
about the machine limit lines was created by dab77
Hi.
Into the axis drawing, the red-dotted lines show the machine limits 'box'.
I guess these dimensions are taken from the .ini file, under axis (joints) sections.

i'm using JA3 branch, but before thinking of a related to JA3 issue, i wanted to ask if the same issue is present also in L.CNC 2.4 or 2.5, with non trivial kinematics.

my issue is:
-My machine have non-trivial kins.
-My home positions are offset because of my home needs.
-Whatever g-code movement of my machine is outside the machine limits. the same visually, into the axis window.
-But when i Manual-Jog Axes limits are perfectly respected.

I remember i had this issue also using what was EMC 2.4.3 or .6 , but confirmation are welcome.

Is there anyway of modifying this?
Z view:
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Last edit: 26 Jan 2012 16:02 by dab77.

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26 Jan 2012 16:02 - 26 Jan 2012 16:03 #17166 by dab77
Replied by dab77 on topic Re:about the machine limit lines
X view:
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Last edit: 26 Jan 2012 16:03 by dab77.

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26 Jan 2012 16:03 - 26 Jan 2012 16:09 #17167 by dab77
Replied by dab77 on topic Re:about the machine limit lines
Y view:
File Attachment:


the 'room' is (mm) X=2800, Y=2000, Z=2450 , and left-bottom corner is 0,0,0.

but the offset put the 0,0,0 position at the middle of the floor.

limits are set at 200mm from each wall, 0 from floor and 250mm from top.

I really don't understand which dimension is the red-dotted-box.

Davide.
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Last edit: 26 Jan 2012 16:09 by dab77. Reason: Sorry for the three posts, but couldn't put 3 different pics in one post.

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27 Jan 2012 13:13 #17183 by andypugh
Replied by andypugh on topic Re:about the machine limit lines
dab77 wrote:

Into the axis drawing, the red-dotted lines show the machine limits 'box'.
I guess these dimensions are taken from the .ini file, under axis (joints) sections.


It is possible that Axis simply plots the joint limits as spatial limits, without going through the kins to convert to world space.
I have tried looking through the code, but it isn't easy for me to follow.

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27 Jan 2012 14:09 #17188 by dab77
Replied by dab77 on topic Re:about the machine limit lines
can you tell me which file is involved?

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27 Jan 2012 15:06 #17189 by andypugh
Replied by andypugh on topic Re:about the machine limit lines
dab77 wrote:

can you tell me which file is involved?


I think it is all of them. It looks like it anyway.

I guess the actual lines are drawn in glcanon.py

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27 Jan 2012 15:31 #17190 by dab77
Replied by dab77 on topic Re:about the machine limit lines
Ok, thanks.

By the way, another Axis question.. it's a lot since i wanted to ask, but it's a minor issue:
I'm in 'Teleop mode', then I click the MDI window (or click f5).
Then if i go back into the manual tab (or click f3) the system change to 'Joint mode'.
What if i want it to stay into 'Teleop mode'?

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27 Jan 2012 15:52 #17191 by dab77
Replied by dab77 on topic Re:about the machine limit lines
andypugh wrote:

dab77 wrote:

Into the axis drawing, the red-dotted lines show the machine limits 'box'.
I guess these dimensions are taken from the .ini file, under axis (joints) sections.


It is possible that Axis simply plots the joint limits as spatial limits, without going through the kins to convert to world space.
I have tried looking through the code, but it isn't easy for me to follow.

in fact, into glcanon.py, at line 698:
def soft_limits(self):
        def fudge(x):
            if abs(x) > 1e30: return 0
            return x

        ax = self.stat.joint
        return (
            self.to_internal_units([fudge(ax[i]['min_position_limit'])
                for i in range(3)]),
            self.to_internal_units([fudge(ax[i]['max_position_limit'])
                for i in range(3)]))
but i can't follow where that 'joint' is taken.
into the ' class GlCanonDraw ' , there's the init with:
def __init__(self, s, lp, g=None):
self.stat = s
but, who calls GlCanonDraw?

For how my machine is done, it would work to just change 'joint' with 'axis' into that, but i don't know where that 'joint' is taken!
can you again help me, please?

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27 Jan 2012 16:06 #17192 by andypugh
Replied by andypugh on topic Re:about the machine limit lines
dab77 wrote:

but, who calls GlCanonDraw?


axis.py, i think. It's all a bit tangled.

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27 Jan 2012 16:55 #17195 by dab77
Replied by dab77 on topic Re:about the machine limit lines
mmm..
i tried, but i think it's too much for me.

i'm going to ask the question into the dev-list.
thank you Andy.

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