HALUI description: MDI-command
15 Oct 2014 02:55 #52103
by HolgerT
HALUI description: MDI-command was created by HolgerT
Hi,
in HALUI documentation in chapter 1.2.12 MDI, there is written:
halui.mdi-command-<nn> (bit, in) - halui will try to send the MDI command defined in the ini. This will not always succeed, depending on the operating mode emc2 is in (e.g. while in AUTO halui can't successfully send MDI commands). If the command succeeds then it will place EMC in the MDI mode and then back to Manual mode.
Last sentence I do not understand in connection with sentence before. When exactly the command will not be successful? If the mode is AUTO - o.k. So I have to change the mode to MDI before - o.k. But last sentence assumes, mode is changed automatically.
My root problem in a HAL code file:
After pressing a button, I change to halui.mode.mdi and then I execute some M1xx command file to go to some certain position.After that I like to change back to halui.mode.manual to be able to move machine by joystick. But I need to know, when movement to G0Z100 has finished, to not give halui.mode.manual to early. It would be better, EMC changes mode by itself.
Any ideas are welcome.
thank you
br
Holger
in HALUI documentation in chapter 1.2.12 MDI, there is written:
halui.mdi-command-<nn> (bit, in) - halui will try to send the MDI command defined in the ini. This will not always succeed, depending on the operating mode emc2 is in (e.g. while in AUTO halui can't successfully send MDI commands). If the command succeeds then it will place EMC in the MDI mode and then back to Manual mode.
Last sentence I do not understand in connection with sentence before. When exactly the command will not be successful? If the mode is AUTO - o.k. So I have to change the mode to MDI before - o.k. But last sentence assumes, mode is changed automatically.
My root problem in a HAL code file:
After pressing a button, I change to halui.mode.mdi and then I execute some M1xx command file to go to some certain position.
#!/bin/sh
# Rapid to Machine tool changer
# anheben
axis-remote -m G53G0Z110
# zum Toolchanger
axis-remote -m G53G0X500Y200
# absenken
axis-remote -m G53G0Z100
exit 0Any ideas are welcome.
thank you
br
Holger
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15 Oct 2014 05:22 - 15 Oct 2014 05:23 #52109
by jtc
Replied by jtc on topic HALUI description: MDI-command
you can call a subroutine from axis-remote.
and put these codes with some logic, please see
linuxcnc.org/docs/html/gcode/o-code.html
and
linuxcnc.org/docs/html/gcode/overview.ht...ub:system-parameters
the pseudo-code should be something like that.
the M100 you can do something like
maybe you should set the pin to false after a while...
João
axis-remote -m o9999calland put these codes with some logic, please see
linuxcnc.org/docs/html/gcode/o-code.html
and
linuxcnc.org/docs/html/gcode/overview.ht...ub:system-parameters
the pseudo-code should be something like that.
o9999sub
G53G0Z110
G53G0X500Y200
G53G0Z100
o9999 if [#5422 EQ 100]
M100
o9999 endif
o9999endsubthe M100 you can do something like
setp halui.mode.manual truemaybe you should set the pin to false after a while...
João
Last edit: 15 Oct 2014 05:23 by jtc.
The following user(s) said Thank You: HolgerT
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15 Oct 2014 23:19 #52120
by andypugh
AUTO mode == G-code program running.
Manual and MDI mode is related to, and linked to, the manual and MDI tabs in Axis. I don't entirely know how it works in other GUIs.
Replied by andypugh on topic HALUI description: MDI-command
When exactly the command will not be successful? If the mode is AUTO - o.k. So I have to change the mode to MDI before
AUTO mode == G-code program running.
Manual and MDI mode is related to, and linked to, the manual and MDI tabs in Axis. I don't entirely know how it works in other GUIs.
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22 Oct 2014 01:06 - 22 Oct 2014 01:10 #52252
by HolgerT
Replied by HolgerT on topic HALUI description: MDI-command
Hi,
Sorry for late answer. Follow your hints, I could check and solve the problem last weekend.
It seems using o-code, each command is executed one by one (next command is started, after movement initiated by command before has finished). This also means, subroutine is ended only, when last G-Command is executed. In that context, I think it makes no sense to usestatement, because M100 will be executed not before movement of G53G0Z100 has finished.
Other the behavior using bash file and "axis-remote -m G53..." commands (like I did before). In that case all commands are sent one by one to axis, regardless whether moving has ended or not.
My solution is like below:
File M105, called by halui.mdi-command-05:
File 9105.ngc, called from M105:
File M190, called from o9105:
halcmd_setHaluiModeManual is a self-defined hal-signal, which sets/resets halui.mode.manual behind some hal-logic.
Thank you for your support.
-Holger
Sorry for late answer. Follow your hints, I could check and solve the problem last weekend.
It seems using o-code, each command is executed one by one (next command is started, after movement initiated by command before has finished). This also means, subroutine is ended only, when last G-Command is executed. In that context, I think it makes no sense to use
if [#5422 EQ 100] .. endifOther the behavior using bash file and "axis-remote -m G53..." commands (like I did before). In that case all commands are sent one by one to axis, regardless whether moving has ended or not.
My solution is like below:
File M105, called by halui.mdi-command-05:
#!/bin/sh
# Rapid to Machine tool changer
axis-remote -m "o9105 call"
exit 0File 9105.ngc, called from M105:
(goto machine tool change position 500 200 100)
o9105 sub
G53G0Z110
G53G0X500Y200
G53G0Z100
(change halui mode to manual)
M190
o9105 endsubFile M190, called from o9105:
#! /bin/bash
#
# kurzes Aktivieren des halcmd_setHaluiModeManual signals ueber meine Logik
# M90 wird aus den o-subroutines aufgerufen, um in den Manual-Mode zurueckzuschalten
#
#
halcmd sets halcmd_setHaluiModeManual TRUE
sleep 0.4
halcmd sets halcmd_setHaluiModeManual FALSE
exit 0halcmd_setHaluiModeManual is a self-defined hal-signal, which sets/resets halui.mode.manual behind some hal-logic.
Thank you for your support.
-Holger
Last edit: 22 Oct 2014 01:10 by HolgerT.
The following user(s) said Thank You: jtc
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