[LinuxCNC/linuxcnc Issue#390] puma560 sim error

Whenever i control robot Puma560 via MDI mode (Manual mode is ok), the terminal will show : “ERR kI – compute_jinv (joints: 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000), (iterations=0) ” but the linuxcnc is still running.

Here are the steps I follow to reproduce the issue:

1. Open linuxcnc by command line
2. Run the puma560 in sim/axis/vismach/puma/puma560
3. Home all –> select MDI mode –> command Gcode