Category: HAL
For axis or joint jogging, there are HAL IN pins for jog-counts. For example, for axis jogging there is axis.L.jog-counts IN S32.
When movement is permitted (enable pin high, in manual mode, not at a soft limit etc) a change to the jog-counts pin will cause movement.
Since the jog is incremental, normally the value of the pin is increased incrementally by the control method (such as a jog wheel), not set to a specified value.
This means that there is potential for a backlog of incremental jog movements to be accumulated, if the rate at which the incremental logs are executed in one direction exceeds the rate at which the jog counts pin has changed.
This manifests as a continuous jog which ends once the backlog has been cleared.
My question is, is there currently any way of accessing the number of counts which make up this 'backlog'?
Or accessing an analogous value such as the DTG for the joint/axis if the backlog of jog counts is summed?
This data should exist in some form in the motion planner, so it should be possible to get it into a HAL OUT pin.
GStat does seem to have a get_jog_increments function, but since the other arguments reference GStat's internal jog parameters, so I think this just returns what was set by the set_jog_increments function.
In summary (as far as I know), there is an IN pin for jog counts, but no OUT pin which actually indicates how many counts are 'queued' in the motion planner.
Is it possible to make this into a HAL pin in a current installation?
Or what might be changed in the current motion planner to make this value a Stat/GStat attribute or HAL pin?
Thanks!
