How to configure a XHC-WHB04B pendant ?

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18 Jan 2021 22:06 - 18 Jan 2021 22:07 #195840 by alkabal
Hi

I have try to change my config according to your information :
net pdnt.mode.is-manual                   halui.mode.is-manual                  whb.halui.mode.is-manual
net pdnt.mode.is-manual                                                         whb.halui.mode.is-teleop

But like that i get any move from the pendant ??? so i did not understand why some user have issue with standard config ?

Is someone know more things about teleop ?

Or maybe this is on,ly related with XHC-WHB04-04 (4 axis variant)
Last edit: 18 Jan 2021 22:07 by alkabal.

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19 Jan 2021 21:56 #195925 by andypugh
Teleop mode is jogging in XYZ space.
With trivial kinematics this looks exactly like jogging in joint mode, but is the jogging mode that applies after homing. (generally)

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20 Jan 2021 08:54 - 20 Jan 2021 08:55 #195978 by alkabal
Thanks a lot

So if i understand correctly with trivial kinematics the teleop mode is used only if machine is not homed ?

You mean after machine is homed this is no more used.

Signal managed by pendant is :
net pdnt.mode.is-auto    
net pdnt.mode.is-manual  
net pdnt.mode.is-mdi     
net pdnt.mode.is-teleop  
net pdnt.mode.is-joint

from Lcnc manual i see
halui.mode.teleop bit in   : pin for requesting coordinated jog mode

So at the end i have not really understand what is really needed what is really needed.

Original component for machinekit did not use teleop mode at all, when i have start the conversion for Linuxcnc i get mpg working only using teleop mode, now i think this is maybe because i use a not homed machine for test ???
Last edit: 20 Jan 2021 08:55 by alkabal.

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20 Jan 2021 20:35 #196017 by alkabal
Another test done with machine homed and you are right pendant work very fine without the use of teleop, so i will now check for update the driver and remove or use teleop only if machine is not homed.

Br

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20 Jan 2021 22:52 - 20 Jan 2021 22:55 #196033 by alkabal
If some user are able to compile i have ask a PR for updated driver.

github.com/LinuxCNC/linuxcnc/pull/1049


hal config need to be restored :
net pdnt.mode.is-teleop          halui.mode.is-teleop          whb.halui.mode.is-teleop

hal config you need to add :
# "is-homed" axis signal for allowing pendant when machine is not homed
net pdnt.axis.X.is-homed                  halui.joint.0.is-homed                whb.halui.joint.x.is-homed
net pdnt.axis.Y.is-homed                  halui.joint.1.is-homed                whb.halui.joint.y.is-homed
net pdnt.axis.Z.is-homed                  halui.joint.2.is-homed                whb.halui.joint.z.is-homed
Last edit: 20 Jan 2021 22:55 by alkabal.

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22 Jan 2021 17:44 #196249 by andypugh

alkabal wrote: Original component for machinekit did not use teleop mode at all,


That could be because Machinekit does not have the Joints-Axes changes, which separates the concepts of joints and axes (and adds separate jog inputs for both)
The following user(s) said Thank You: alkabal

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22 Jan 2021 21:08 - 22 Jan 2021 21:10 #196280 by alkabal
I know yes you are right but i have also check the driver for older unit and see nothing about changind mode.

github.com/LinuxCNC/linuxcnc/blob/master...er_comps/xhc-hb04.cc

I have push code to Github for manage both case (homed/unhomed)
Last edit: 22 Jan 2021 21:10 by alkabal.

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