From 7a6dfdd36742600b493033cc722bd888e6ff9a6d Mon Sep 17 00:00:00 2001
From: Luca Toniolo <10792599+grandixximo@users.noreply.github.com>
Date: Tue, 5 May 2026 17:19:49 +0800
Subject: [PATCH] axis -fix Z jog after touch off on unhomed lathe (#3994)

ja_from_rbutton used the compact "xzabcuvw" letter map whenever the
machine was unhomed, regardless of jog mode. Touch off forces teleop
via set_motion_teleop(1), so a follow-up Z jog hit the teleop axis
slot 1 (Y) instead of slot 2 (Z) and silently no-op'd. Gate the
compact map on jjogmode so teleop axis jogs always use the full
"xyzabcuvw" slot map.
---
 src/emc/usr_intf/axis/scripts/axis.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/emc/usr_intf/axis/scripts/axis.py b/src/emc/usr_intf/axis/scripts/axis.py
index 3eff037ccea..030df49a72a 100755
--- a/src/emc/usr_intf/axis/scripts/axis.py
+++ b/src/emc/usr_intf/axis/scripts/axis.py
@@ -1936,7 +1936,11 @@ def ja_from_rbutton():
     # radiobuttons for joints set ja_rbutton to numeric value [0,MAX_JOINTS)
     # radiobuttons for axes   set ja_rbutton to one of: xyzabcuvw
     ja = vars.ja_rbutton.get()
-    if not all_homed() and lathe and not lathe_historical_config():
+    jjogmode = get_jog_mode()
+    # "xzabcuvw" remap is only valid for joint jog on a lathe missing the Y
+    # joint. Teleop axis indices are fixed (0=X,1=Y,2=Z,...) so the full
+    # "xyzabcuvw" map must be used there, otherwise Z collides into the Y slot.
+    if jjogmode and not all_homed() and lathe and not lathe_historical_config():
         axes = "xzabcuvw"
     else:
         axes = "xyzabcuvw"
@@ -1950,7 +1954,7 @@ def ja_from_rbutton():
         a = axes.index(ja) # letter specifies an axis coordinate
 
     # handle joint jogging for known identity kins
-    if get_jog_mode():
+    if jjogmode:
         # joint jogging
         if lathe_historical_config():
             a = "xyzabcuvw".index(ja)