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