xyzx_gantry configs using:
trivkins coordinates=xyzx kintype=BOTH
xyzx.ini -- includes sim_pin simulation for wheel jogging
xyzx-xhc-hb04.ini -- uses an xhc-hb04 pendant (18 button model)
Usage:
1) F1 (estop off)
F2 (machine on)
Ctrl-HOME (home, switch automatically to teleop mode)
2) Teleop mode jogging:
keyboard jog: Left/Right arrows------ x
Up/Dn arrows----------- y
PgUp/Dn---------------- z
left/right bracket----- x
mpg jog: rotary x/wheel -------- x
rotary y/wheel -------- y
rotary z/wheel -------- z
rotary a/wheel -------- none
sim_pin jog jog:x-0 +/- ----------- x
jog:y-1 +/- ----------- y
jog:z-2 +/- ----------- z
jog:3 +/- ----------- none
3) To switch to joint mode in axis gui, use '$' key
4) Joint mode jogging:
keyboard jog: Left/Right arrows------ joint_0
Up/Dn arrows----------- joint_1
PgUp/Dn---------------- joint_2
left/right bracket----- joint_3
mpg jog: rotary x/wheel -------- joint_0
rotary y/wheel -------- joint_1
rotary z/wheel -------- joint_2
rotary a/wheel -------- joint_3
sim_pin jog jog:x-0 +/- ----------- joint_0
jog:y-1 +/- ----------- joint_1
jog:z-2 +/- ----------- joint_2
jog:3 +/- ----------- joint_3
Notes:
a) For simplicity, the configs connect:
joint.N.motor=pos-cmd => joint.0.motor-pos-fb
and use immediate homing (no home switch logic).
b) The configs use [KINS]AUTOTELEOP= to automatically
switch to teleop mode after homing.
c) The LIB:xhc-hb04.tcl script handles configurations
with known kinematics -- trivkins for the configs
provided here.
d) For a machine configured as xyzx, the 0,1,2 --> x,y,z
connections are handled automatically by LIB:xhc-hb04.tcl.
Additional hal connections to allow jogging joint_3
are done in a postgui hal file (xhc-hb04-postgui.hal).
In practice, independent joint jogging of joint_0 and joint_3
may rack a gantry or cause other problems if not used with
extreme care.
