51 lines
1.7 KiB
Plaintext
51 lines
1.7 KiB
Plaintext
gantry_jjog sim config
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o Default configs that synchronize the
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final homing move for multiple joints disallow
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individual jogging of such joints since
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such jogs invite operator error and gantry
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racking. This more complex config demonstrates:
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Individual joint mode jogging for joint1 and joint3
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Synchronized joint mode jogging for joint1 and joint3
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Example Procedure:
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1) Estop-off (F1)
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2) Machine-on (F2)
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3) Set halscope to "Roll" and resize
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4) Panel "J1,3 JOGGING": set ENABLE to ON
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to allow jogging for joint1 and joint3
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5) use COUNTS to jog both joint1 and joint3
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SYNCHRONOUSLY in realtim
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6) use axisgui jog number radiobuttons
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and the plus(+) and minus(-) pushbuttons
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to jog any joint INDIVIDUALLY.
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NOTE: this would RACK a two-motor gantry
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7) Panel "J1,3 JOGGING": set ENABLE to OFF
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to allow homing
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8) HOME All (Ctrl-HOME) to home all joints
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(it may be necessary to first move all joints
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close to zero to properly simulate home switches)
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9) Use axisgui X,Y,Z radiobuttons
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and the plus(+) and minus(-) pushbuttons
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to jog any coordinate
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10) Return to joint mode using the $ key
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Notes:
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a) Uses trivkins coordinates=XYZY kinstype=BOTH
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b) The "J1,3 JOGGING" panel makes hal connections to
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alter ini.[13].home_sequence and motion.homing-inhibit
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settings to allow jogging of joints that use synchronized
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homing provisions.
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c) The "J1,3 JOGGING" COUNTS widget simulates
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the counts which would normally be supplied
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by an Manual-Pulse-Generator (MPG or wheel jog).
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d) The "J1,3 JOGGING" SCALE widget sets the distance
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in machine units for each count
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e) In joint mode, the axis gui displays joint numbers
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and joint positions correctly but the graphical
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interpretation may be misleading.
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