5 Axis ParPort Stepper Setup with RTCP

Hello All members.


This is my first thread in this legendary forum, i am following threads since long. now i have started building one machine and need help as follow.

Machine is having 4 Axis out of which two are linear Axis, two are rotary axis.

1) X = Gantry
2) Z = Vertical Axis
3) B/A = Rotary swivel head
4) C = Rotary table.

now i coming on point. i am not pro EMC CNC user. i have run configuration with three axis and four axis. that is satisfactory. but at this special machine i am stuck at configuring Stepper motor outputs with ParPort and given 5Axis INI and HAL file. because its configured with Mesa electronics. and i want to use with Par port and stepper with different type of Joint as sample 5 axis setup give C axis in Z axis. while i need C axis on fixed Rotary table there is Y axis. x Axis will always run in center of Rotary table.


Looking fro some hints clues.


thanks all member for keeping this community so strong.

The first question would be about how you want to control the machine. If you want RTCP then you will need to use a special kinematics module.

if you can write a kinematics module then hand-coding a parallel-port HAL file should be trivial.

To get started, create a 6-axis machine and ignore the Y. That should get you close.

Thanks andypugh for quick reply,


i am noob for writing new configuration, though i did modification for sample 4Axis mill and did my machine working but didnt teased kinematics yet. yes i tried sample 5 axis configuration but its configured to run with mesa cards, i dont know how to replace mesa configuration with PP and modify that machine kinematics as i need only A/U, B/V axis i think. may b A/W, B/W i am totally new.... i tried to look into ini and hal file didnt get idea where to start...

and yes can you guide me how to start from 6 axis ??

Regards,
Ankit Mistry

I just checked, and stepconf can't make a 6-axis config. So:
www.linuxcnc.org/docs/html/config/stepconf.html

Create a 5-axis config, then edit the INI and HAL files to add the extra axes, using the structure created by Stepconf for guidance.

and yes about RTCP, Z and X will compensate tool length offset and will follow part geometry by shifting programing positions. and C has to do nothing with compensation in C there will be start degree and end degree thats it sort of Y axis with donut shape, in short sweep angle of B/A axis will be definite, regardless of tool offset.

i manually tried adding 5th axis in Hal and ini, but it ended with error, may be interface. let me post error message

Debug file information:
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
HAL: ERROR: duplicate component name 'inihal'
ini_hal_init: ERROR: hal_init() failed
A configuration error is preventing LinuxCNC from starting.
More information may be available when running from a terminal.
6666
PID TTY STAT TIME COMMAND
6729
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components







I replaced Y With Z, Z with B axis, A axis with C axis