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axis: fix Z jog after touch off on unhomed lathe (#3994) #4007

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axis: fix Z jog after touch off on unhomed lathe (#3994) #4007

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8 changes: 6 additions & 2 deletions src/emc/usr_intf/axis/scripts/axis.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand All @@ -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)
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