Switch to teleop mode while unhomed bei MDI cmd or try to start nc code

Hi,

yesterday I realised that it is possible to switch to teleop mode just by trying to start a nc program (also a button via pyvcp panel with an MDI cmd works like this) while the machine is not homed. I made a video and uploaded it to YT:



In the viedo I am using an VM with a install via the standard iso (2.9.1) an upgraded it to 2.9.3. Yesterday I had this behavior on a real machine with 2.9.2. Also 2.9.1 is the same. So in my opinion this sholud not be possible because the machine is not homed in this situation and switched to teleop mode after trying to start a program and joging afterwards. Is this behavior wanted?

Best regards
Julian

Thank you for the reply.

Yes, indeed. I also have some machines working flawlessly. But I am more familiar with servos and encoders. So loss of position is not a problem and I only homing once.

Know I rebuild a machine wuth steppers and need sometimes a homing here and there. Nevertheless, dont fight the setting. I read a little bit about teleop mode (and free and coord mode). Unhomed the switch should not be possible.

A friend of mine tested the same with more complex kinematics yesterday. No problems if you have "real" joints and axes (e.g. robots). So no switch to teleop while trying to start a program unhomed.

In my case I would like to define different velocities homed and unhomed. Its a 1,5 x 1,85 m machine and I dont want to home with 5m/min or more. So I jog unhomed near the switches. For this I want to set the velocity to 9m/min, while G0 normally is more like 20m/min.

No doubt. I can handle the issue different. I just want to mentioned that the behaviour is strange.

Julian

Yes I know that, thank you nonetheless. That will be the solution in my case so that I dont have to bother with the teleop mode switching. So yes, there are more ways to skin a cat

Question is. Is this a bug and should I send a report or do I missunderstand the logic behind the modes?