soft limits enforced in cartesian jogging before homing

gorbypark commented 7 years ago

Here are the steps I follow to reproduce the issue:

Open StepConf
Basically click forward all the way through a new config. I selected to use Gmoccapy and changed pins for axis A to unused, inverted axis Y and Z and set max velocities on the 3 axis'. All other options as per default.
Run LinuxCNC 2.8~pre (compiled October 16, 2016) and try to move axis manually to home position. Axis' will not move past position 0.0, even when completely un-homed (red DRO in gmoccapy) after starting LinuxCNC. This prevents the machine from moving to it's home position.
Manually switched the .ini to use Axis with the same results
This is what I expected to happen:

Be able to move the position of any axis to any position while the axis is un-homed.

This is what happened instead:

Axis' stop at 0.0 (basically where ever the machine happens to be when LinuxCNC starts). Moving to a positive position works, but moving backwards it stops at 0.0

It worked properly before this:

Works in 2.7.7

Information about my hardware and software:

I am using this Linux distribution and version (often, shown by lsb_release -a): Debian GNU/Linux 7.11 Wheezy
I am using this kernel version (shown by uname -a): Linux linuxcnc 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux
I am running a binary I built myself
I am using this LinuxCNC version (shown in package manager or, for git versions, scripts/get-version-from-git): v2.8.0-pre1-2653-ge8e4116
I am using this user interface (GUI) (e.g., AXIS, Touchy, gmoccapy, etc): Gmoccapy and AXIS
I am using this interface hardware vendor and chipset (e.g., parallel port, ethernet port, FPGA card): Parallel port

Generated by stepconf 1.1 at Sun Oct 16 20:24:46 2016

If you make changes to this file, they will be

overwritten when you run stepconf again

[EMC] MACHINE = X2-2.8 DEBUG = 0 VERSION = 1.0

[DISPLAY] DISPLAY = axis EDITOR = gedit POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL ARCDIVISION = 64 GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in MAX_FEED_OVERRIDE = 1.2 MIN_SPINDLE_OVERRIDE = 0.5 MAX_SPINDLE_OVERRIDE = 1.2 DEFAULT_LINEAR_VELOCITY = 0.10 MIN_LINEAR_VELOCITY = 0 MAX_LINEAR_VELOCITY = 0.35 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/mike/linuxcnc/nc_files INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in

[KINS] JOINTS = 3 KINEMATICS = trivkins coordinates=XYZ

[FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python

[TASK] TASK = milltask CYCLE_TIME = 0.010

[RS274NGC] PARAMETER_FILE = linuxcnc.var

[EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 100000 SERVO_PERIOD = 1000000

[HAL] HALFILE = X2-2.8.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ] COORDINATES = X Y Z LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_LINEAR_VELOCITY = 0.10 MAX_LINEAR_VELOCITY = 0.35

[EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl

[AXIS_X] MAX_VELOCITY = 0.35 MAX_ACCELERATION = 30.0 MIN_LIMIT = -0.01 MAX_LIMIT = 8.4

[JOINT_0] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -0.01 MAX_LIMIT = 8.4 MAX_VELOCITY = 0.35 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 8000.0 FERROR = 0.05 MIN_FERROR = 0.01 HOME_OFFSET = 0.0

[AXIS_Y] MAX_VELOCITY = 0.35 MAX_ACCELERATION = 30.0 MIN_LIMIT = -0.01 MAX_LIMIT = 3.4

[JOINT_1] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -0.01 MAX_LIMIT = 3.4 MAX_VELOCITY = 0.35 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 8000.0 FERROR = 0.05 MIN_FERROR = 0.01 HOME_OFFSET = 0.0

[AXIS_Z] MAX_VELOCITY = 0.15 MAX_ACCELERATION = 30.0 MIN_LIMIT = -8.7 MAX_LIMIT = 0.01

[JOINT_2] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = -8.7 MAX_LIMIT = 0.01 MAX_VELOCITY = 0.15 MAX_ACCELERATION = 30.0 STEPGEN_MAXACCEL = 37.5 SCALE = 8000.0 FERROR = 0.05 MIN_FERROR = 0.01 HOME_OFFSET = 0.0

gmoccapy commented 7 years ago

That will not happen, if you have connected a real machine, wouldn't it? As if you home the machine, and the INI is set correctly, the soft limits are disabled. And after homing everything should be fine.

The behavior you described is known also in 2.6 or 2.7 branch.

IMHO no ISSUE.

Norbert

jepler commented 7 years ago

I think it's a bug, just not a gmoccapy bug. It seems more likely it's a JA bug.

Compare the behavior of 2.7 and master in configs/sim/axis/axis.ini

F1 F2. Turn jog speed way up. Hold cursor left to jog in -X.

In 2.7, the jog will continue for at least as long as the total soft limit range in X, but stop at some point. then, if you press cursor left again, it will continue jogging.

In master, the jog stops right where linuxcnc thinks the soft limit boundaries are.

gmoccapy commented 7 years ago

Oh, I see that is the problem. I agree with you, it is a bug!

KurtJacobson commented 7 years ago

This is certainly a bug, and a very frustrating one for me since I have to take the motors off so I can move the axes home manually as I don't have home switches, yet.

pippin88 commented 6 years ago

I have encountered this behaviour on the current master build.

I have a lathe with travels defined as negative ranges (-245 to 0mm, -95 to 0mm). I cannot jog positive until homing is performed. I.e. I turn on the machine with the axes in the middle of their travel, and I cannot jog positive, as LinuxCNC seems to think that that position is 0,0. I can jog negative. LinuxCNC seems to call the startup position 0,0. I can activate homing and that works fine. However, homing is slow by necessity. I prefer to jog close to my home switches before activating the homing sequence.

I do not remember this behaviour existing in 2.7, but I can't check for sure.

LinuxCNC / linuxcnc