Some more Python Interface doc cleanup#462
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In theory a joint could have different units from those set in [TRAJ] <joint_type>_UNITS if [JOINT_n] UNITS was set to something other than TRAJ units. The actual likely hood of this every occurring is very low, and may not even be possible currently. (It appears that [JOINT_n] UNITS is ignored, at least for trivkins.)
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The description says units per mm or degrees - but isn't it machine units (engineering units) ? |
docs/src/config/python-interface.txt
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| *max_position_limit*:: '(returns float)' - | ||
| maximum limit (soft limit) for axis motion, in machine units.configuration | ||
| maximum limit (soft limit) for axis motion, in machine units. configuration |
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Should this say "for joint motion"?
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Thanks @SebKuzminsky, I did not notice that. I'm sure there are a lot more JA introduced errors hiding in plain sight! I will correct and add to this PR.
docs/src/config/python-interface.txt
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| *min_position_limit*:: '(returns float)' - | ||
| minimum limit (soft limit) for axis motion, in machine units.configuration | ||
| minimum limit (soft limit) for axis motion, in machine units. configuration |
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@c-morley The joint units will be the same as machine units for a trivkins machines, and probably many others, but it is not guaranteed to be the same as machine units. I don't fully understand it, but according to @rene-dev on IRC "non-triv machines can have different unis, like a robot. all joints are angular, but xyz abc is mm/deg" |
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@KurtJacobson: I agree that I am not up on non-triv at all and could be completely wrong but, |
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@c-morley Now I understand your concern, I did not read your first comment properly! LinuxCNC does indeed use millimeter internally, and all other linear units are converted to millimeter. So, strange as it seems, the value of [JOINT]UNITS is the number of machine units that fit into one millimeter. For an inch machine the units value would be 0.03937in/mm, for a metric machine it would be 1mm/mm. For rotary axes the internal units is deg, so if you configure an axis in grad the units value would be 1.1111grad/deg etc. It took me quite some time to figure out was was going on, and that is what prompted me to try and clarify it in the docs. |
The vast majority of the references to linuxcnc enums do not put them in single quotes, so lets be consistent.
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@KurtJacobson just revisiting your comments. |
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@c-morley it probably would be good to include a description of how the joint units are calculated, but I doubt anybody even used them, so it may not be worth the effort. |
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Thank you @c-morley! |
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