Setting the modes in halui

bondglen wrote:

...  I think my biggest problem is that my program (loaded by 'custom.hal') is trying to change the mode from mdi to teleop while the mdi gcode is still running.

 

I think you misunderstood something here...

Teleop mode basically means that the movements of your machine are based on the combination of joints for a given axis, not a single one. In contrast 'free mode' allow you to control any joint individually. This is NOT directly related with Manual, Auto or Mdi modes as you can have the machine moving in any combination of 1 of the 3 operating modes (Auto, Man, Mdi) with 1 of the 2 motion modes (teleop or free). Mdi teleop mode is then a  valid 'combination'.  

Also, you should be aware that to be able to jog AFTER homing, which also normally put the machine in teleop mode, you must use axis pins in you HAL config for your MPG. Likewise if you want to jog BEFORE homing, this is while you are still in 'free mode' you must then use joint pins.
I'm now wondering if this could be the problem you're having now?

Here are 2 (incomplete) example of jogging with an MPG (pendant):

For teleop mode you will have:
net x-jog-enable         =>  axis.x.jog-enable
net x-jog-count          =>  axis.x.jog-counts
net selected-jog-incr    =>  axis.x.jog-scale

For free mode you will have:
net x-jog-enable         =>  joint.0.jog-enable
net x-jog-count          =>  joint.0.jog-counts
net selected-jog-incr    =>  joint.0.jog-scale

You can also have a look at this for an example of how to be able to jog in both free and teleop mode : forum.linuxcnc.org/38-general-linuxcnc-q...xis-not-homed#258866

 

I'm also thinking that this could be easier to help you if you attach your program for us to have a look at it.

cmorely I would like to try python, but I know nothing about python and don't have any examples to work with.

I didn't know anything about using halcompile until I started working with this pendant. I started from this thread: forum.linuxcnc.org/18-computer/22562-ard...for-linuxcnc?start=0
I have changed so much from the original that is is hardly similar anymore.
JPL - Your information of having a transition from LOW to HIGH is the whole trick fro me. Using that one tactic has caused everything to begin to function. I still have a few other problems, but setting the modes now works well.

Thanks to all,
Glen

I really don't understand what the HALUI mode pins are for. I have tried to use them to switch between the MANUAL and MDI tabs with external buttons, but there is no change when the external button is pressed even though in the HAL Meter the halui pins do change state. mode. manual and halui. mode. Mdi.