Linear A and B axis jog according to Angular velocity when defined in display section and using GMOCCAPY

[SpamsterFly]

The issue tracker is not a support forum

Here are the steps I follow to reproduce the issue:

1. Setup a GMOCCAPY configuration with Linear XYZAB axes and joints
2. Define the following in the display section
   [DISPLAY]
   DEFAULT_ANGULAR_VELOCITY = 5.60
   MIN_ANGULAR_VELOCITY = 0
   MAX_ANGULAR_VELOCITY = 56.00

All Axis and joints are defined as linear
[AXIS_A]
TYPE = LINEAR

[JOINT_4]
TYPE = LINEAR

4. When jogging A or B axis in GMOCCAPY, the moves are very slow. Increasing angular velocity affects the linear A and B axis.
   Changing UI to Axis and the A and B Axis move according to linear velocity. Removing Angular velocity from Display section results in GMOCCAPY results in A and B axis jogging according to linear velocity.

This is what I expected to happen:

A and B axis should jog with respect to linear velocity unless they are defined as Angular axis/joint

This is what happened instead:

A and B linear axis were bound by angular velocity and limits when jogging

Here is a community thread describing this issue...
https://forum.linuxcnc.org/gmoccapy/51475-a-and-b-axis-jog-very-slow-when-angular-velocity-is-specified-in-display-section

It worked properly before this:

Information about my hardware and software:

• I am using this Linux distribution and version (often, shown by lsb_release -a):Debian 10 Buster
• I am using this kernel version (shown by uname -a): 4.19.0-24-rt.amd64
• I am running ...
  • A binary version from linuxcnc.org (including buildbot.linuxcnc.org)
  • A binary I built myself
  • A binary version from some other source besides linuxcnc.org
• I am using this LinuxCNC version (shown in package manager or, for git versions, scripts/get-version-from-git):2.8.4-1
• I am using this user interface (GUI) (e.g., AXIS, Touchy, gmoccapy, etc): GMOCCAPY
• I am using this interface hardware vendor and chipset (e.g., parallel port, ethernet port, FPGA card): PP SD-PEX10005

[andypugh]

Whilst I agree that this is unexpected, if you have extra linear axes, these would normally be U, V or W.

What is the machine? 5 linear axes seems unusual?

[SpamsterFly]

Knee mill with quill and rotary. Knee is A rotary is B, I was attempting to setup rotary and knee slowed down when I added angular velocity to Display. I set everything to linear for diagnosing problem.

[SpamsterFly]

I changed my coordinates to XYZUA and it appears to not exhibit the problem. Still seems defective.
Thanks Andy

[andypugh]

Conventionally the Knee and Quill would be Z and W (in an order of the integrators choosing).
Thouugh there is the possibility of them being two separate joints that combine to be a single Z axis through custom kinematics.