Re: New tkemc with joint/world mode switch

[Will Shackleford <shackle-at-cme.nist.gov>]

EMC_TRAJ_SET_TELEOP_ENABLE is a rather new command.
It looks like you are running a newer gui than motion
level. Also I never added teleop enable to emcstepmot.c. So
steppermod.o systems will print the error and ignore this,
while freqmod and servo systems should accept it if
they are pretty close to the latest CVS version.



Teleop is perhaps a bad name for a coordinated manual mode.
In regular manual/free mode if you try to jog the
X axis only the first joint axis would jog. In teleop mode all
axis might jog depending on kinematics.


-- Will



Ray wrote:

> 
> I tried out the expanded tkemc from Keith Outwater.  It adds joint and world
> to this gui so that we should be able to run robots and hexapods with it. 
> Thanks Keith.
> 
> On my system it seems to kick up an error message (Unrecognized command
> 35) whenever I switch from joint to world while in manual mode.  The
> following is a snippet from the terminal that I run it in.  
> 
> -----snippet of terminal output-----
> Issuing EMC_AXIS_HOME --         (+123,+16,    +4,    +0,)
> Issuing EMC_AXIS_HOME --         (+123,+16,    +5,    +1,)
> Issuing EMC_AXIS_HOME --         (+123,+16,    +6,    +2,)
> emcStatus->motion.traj.mode=1
> emcStatus->motion.traj.mode=1
> Issuing EMC_TRAJ_SET_TELEOP_ENABLE --    (+230,+16,    +7,    +1,)
> Unrecognized command 35
> emcStatus->motion.traj.mode=1
> -----end of snip-----
> 
> The gui seems to work okay.  It also puts up a teleop error if a program is
> running or you are in auto mode.  Is this just because I'm running with a
> cartesian machine definition?
> 
> Ray


-- 
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William Penn Shackleford III			shackle-at-nist.gov
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