XHC-HB04 wireless MPG pendant HAL module

tommy wrote: I have tested it, and jog in world mode is very nonlinear, like it would be loosing steps from jog wheel.

I have added a smoothing filter for velocity calculation.
That should be much better.
Please, could you try the V05 ?
Frederic.

V05 tested, and jog works much better now in world mode!
If there will appear anything else, related to this device, I will let you know.

I would need some advise how to program "=0" button which should work as "Touch Off" button for selected axis.
Axis selection is done by the axis selection switch on pendant, but it's not shown on Manual Control window in linuxcnc...

tommy wrote: I would need some advise how to program "=0" button which should work as "Touch Off" button for selected axis..

"touch off" from the GUI performs a G10 operation.

Do you want the button to set the axis to zero, or do you want to pop-up the dialog box for the correct axis?

Setting the axis to zero (or any fixed value) is easy, setting it to an arbitrary number is much less so.

andypugh wrote: Do you want the button to set the axis to zero, or do you want to pop-up the dialog box for the correct axis?

Setting the axis to zero (or any fixed value) is easy, setting it to an arbitrary number is much less so.

For me would be ok if button would just zero axis selected by switch on pendant.

tommy wrote: For me would be ok if button would just zero axis selected by switch on pendant.

I think the easiest way to do this is to link the button to an MDI_COMMAND
www.linuxcnc.org/docs/html/config/ini_co..._sub_halui_section_a
that calls a G-code subroutine
that firstly reads in the selected axis number from HAL using M66
www.linuxcnc.org/docs/html/gcode/m-code....ec:M66-Input-Control
Then the G-code routine can use that number to G10
www.linuxcnc.org/docs/html/gcode/gcode.html#sec:G10-L1_
The correct axis.

In HAL for pendant I have signals jog-x, jog-y, jog-z, that are telling me (with true or false) which axis I have selected with switch on pendant.
How M66 reads that out from HAL, or how to make that connection to my signals?

tommy wrote: In HAL for pendant I have signals jog-x,
...
How M66 reads that out from HAL?

net jog-x motion.digital-in-00
net jog-y motion.digital-in-01
net jog-z motion.digital-in-02

(and then use M66 P0 to check if X is selected, for example)
www.linuxcnc.org/docs/html/gcode/m-code....ec:M66-Input-Control

"=0" now works perfectly!
But there is still a BIG issue with unwanted switching to joint mode when calling subroutine trough MDI_COMMAND, and that is very very dangerous when using gantrykins (or any other)... So is there any kind of solution for that?
Maybe somehow to force halui.mode.is-teleop (or toher pin responsable for that) to be on true state after any MDI_COMMAND is executed, and make sure that it will stay in world mode.

tommy wrote: But there is still a BIG issue with unwanted switching to joint mode when calling subroutine trough MDI_COMMAND,

I tried to find out where this was happening some time ago, but didn't manage to track it down.
I did find that it happened even with no GUI at all.

Which version of LinuxCNC are you using? The next release of LinuxCNC is likely to be based on the joints_axes3 branch, which may have fixed the issue (or may not have done).
Also in ja3 is a version of gantrykins (ie one that doesn't even _have_ a joint mode) called gentrivkins.