[LinuxCNC/linuxcnc Issue#300] Motion: Inconsistent axes limits About GRBL HAL

Issue #300 | 状态: 已关闭 | 作者: pkmcnc | 创建时间: 2017-07-06

Here are the steps I follow to reproduce the issue:

1. Edit axis_mm to XZA configuration. Change
“[TRAJ] COORDINATES = X Z A


[KINS]

KINEMATICS = trivkins coordinates=xza
[AXIS_Z]

MIN_LIMIT = 0.0

MAX_LIMIT = 300.0
[JOINT_1]

MIN_LIMIT = -10.0

MAX_LIMIT = 310.0

HOME = 300.000

HOME_OFFSET = 310.0
[AXIS_A]

MIN_LIMIT = -999999.0

MAX_LIMIT = 999999.0

[JOINT_2] TYPE = ANGULAR MIN_LIMIT = -999999.0 MAX_LIMIT = 999999.0 HOME = 0.000“
2. Start the machine, home.
3. In MDI tab execute any A move, like G1 A10 F300.

This is what I expected to happen:

A moves

This is what happened instead:

Error: Linear move on line 0 would exceed Z’s positive limit

Information about my hardware and software:

* I am using Debian image.
* I am running a binary I built myself from source.
* I am using this LinuxCNC version v2.8.0-pre1-3217-g367b5f8

#1 – pkmcnc 于 2017-07-06

X move also causes the same error.
But the problem seems to disappear after executing any Z move.

#2 – jepler 于 2017-07-06

If you increase the limit so that the home position is strictly inside it, e.g., [AXISZ]MAXLIMIT=300.01, does the problem persist? If that’s the case, I think this is just a misconfiguration and maybe an opportunity to improve the documentation. If not, then it’s worth looking deeper for what the real problem is.

#3 – pkmcnc 于 2017-07-06

@jepler You are correct! Increasing the Z limit helped (but not joint 1 limit alone).
Interesting that if I move Z to say 200 and back to 300, everything works. The problem appears only until any Z move is executed.
Also, Z limit at 300.1 with joint 1 limit at 300 work OK.

原始Issue: https://github.com/LinuxCNC/linuxcnc/issues/300

Here are the steps I follow to reproduce the issue:

This is what I expected to happen:

This is what happened instead:

Information about my hardware and software:

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