4 axis cnc winch style foam hotwire configuration

mt92 wrote:

/home/username/emc2hotwinch/kinematic/dualbipod.c
/home/username/emc2hotwinch/kinematic/dualbipod.ko
/home/username/emc2hotwinch/kinematic/dualbipod_XYAB.c
/home/username/emc2hotwinch/kinematic/dualbipod_XYAB.ko

The .ko files are the actual kinematics files. They may or may not work if simply copied into the kinematics folder.

You only use one at a time, and which one is being used depends on which one is loaded by the HAL file. (you should see a loadrt command near the top of the HAL file)

There will be adjustments that need to be made for such factors as the length of your strings and the distance between winches. Those are probably parameters in the HAL file.

If the kinematics files don't work when simply copied in to place then you will need to compile them. The "comp" command can do this almost automatically:

sudo comp --install path/to/the/dualbipod.c

(you need sudo because the file is put into the system, outside your user folders)

In case you are not clear, the kinematics files are what convert XYUV positions in space into wire-lengths(stepper positions) for the motor controllers.

mt92 wrote:

Ok can you give me a good example of what the command line will look like to compile these files, are they all compiled in one command line? The files are in my home folder and they are going to /usr/realtime-2.6.32-122-rtai/modules/linuxcnc.

sudo comp --install ~/bipod.c
sudo comp --install ~/bipod_XYAB.c

Ought to work.
if not then they should after
sudo apt-get install linuxcnc-dev

How do I delete the files I already put in there.

They will either get over-written, or ignored.

Zip up your config files and attach them to a reply so we can have a look.

John

mt92 wrote:

custom_postgui.hal38: pin 'halui.mode.is-joint does not exsist

The problem is that the HAL pin called "halui.mode.is-joint" does not exist.

It may well be because your INI file does not contain HALUI = halui in the place where that goes.

www.linuxcnc.org/docs/html/gui/halui.html