MOTION in-position not working after homing

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05 Sep 2022 05:15 #251203 by LAUSCH
Hi there,

I have encountered a strange problem while solving an issue with a kinematics module.
I want to use the pin motion.in-position for a if-else query within my own kinematics module.

When checking the behaviour of the Pin in HalShow I have noticed that before homing the pin does what it should namely it is True as soon as all axes are in position and False as long as the machine moves.
However after performing homing of the system the pin remains True all the time even if the axes move. The same applies for the pins  joint.X.in-position.

Cheers

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06 Sep 2022 20:55 #251350 by andypugh
This might make sense, in an unhelpful way.
A possible explanation is that during normal motion the joints are all at their current commanded position all of the time.
But if that is the logic, it makes the pins rather useless.

motion.distance-to-go might be more useful for your purposes?
The following user(s) said Thank You: LAUSCH

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07 Sep 2022 17:19 #251423 by LAUSCH
It is indeed rather unhelpful ;-).
In the meantime I figured out what is the issue behind this.

For movements with the jog-buttons the pins "motion.in-position" as well as "motion.distance-to-go" are not active.
motion.in-position is always TRUE
motion.distance-to-go is always 0

Only when going to MDI mode and commanding G1 X.. Y.. Z.. F...  it shows the desired behaviour.

So for my specific problem this is not helpful but at least understood now.
For me it would make sense to also change these pins for jog commands.

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07 Sep 2022 22:19 #251446 by andypugh

For me it would make sense to also change these pins for jog commands.

Keyboard jogs are yet another special case. 

A keyboard jog is a continuous movement towards the soft limit. (or, if not homed, to the current position + axis travel) 
Then, when you release the key, the move is aborted. 
So, keyboard jogs would always show the same distance-to-go and the in-position can either be always true, or always false, but in either case is always wrong :-)

 
The following user(s) said Thank You: joekline9, chili023, LAUSCH

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08 Sep 2022 19:12 #251515 by LAUSCH
By jogging I meant that the button in the GUI for a fixed distance (e.g. 50mm) was pressed. In the unhomed state the pins
motion.in-position  turns false until the final position is reached
motion.distance-to-go shows the remaining distance to go
So both as expected.
But this behaviour changes as soon as the machine is homed:
motion.in-position is always TRUE
motion.distance-to-go is always 0
 

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17 Sep 2022 18:20 #252186 by andypugh
That's unexpected, as the GUIs manage to display distance-to-go so the value is available somehow.

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