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Set motion mode to FREE when volatile joints have been unhomed #3669

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Set motion mode to FREE when volatile joints have been unhomed #3669

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11 changes: 10 additions & 1 deletion src/emc/motion/control.c
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Original file line number Diff line number Diff line change
Expand Up @@ -866,6 +866,15 @@ static void set_operating_mode(void)
emcmot_joint_t *joint;
double positions[EMCMOT_MAX_JOINTS];

/* joints set to volatile are unhomed when task state switches to OFF or ESTOP
in this case we need to switch to 'free' mode */
if (!get_allhomed() && (GET_MOTION_TELEOP_FLAG() || GET_MOTION_COORD_FLAG()) ) {
emcmotInternal->teleoperating = 0;
SET_MOTION_TELEOP_FLAG(0);
emcmotInternal->coordinating = 0;
SET_MOTION_COORD_FLAG(0);
}

/* check for disabling */
if (!emcmotInternal->enabling && GET_MOTION_ENABLE_FLAG()) {
/* clear out the motion emcmotInternal->coord_tp and interpolators */
Expand Down Expand Up @@ -2184,4 +2193,4 @@ static void update_status(void)
old_motion_flag = emcmotStatus->motionFlag;
}
#endif
}
}
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