Master and Slave axes in EMC2+Montec

radekB wrote:

net Xpos-cmd axis.0.motor-pos-cmd => pid.0.command
net Ypos-cmd axis.1.motor-pos-cmd => pid.1.command
net Zpos-cmd axis.2.motor-pos-cmd => pid.2.command
net Apos-cmd axis.3.motor-pos-cmd => pid.3.command

I would suggest changing Xpos-cmd and Apos-cmd to X1pos-cmd and X2pos-cmd, (or whatever suits the actual setup) simply to save confusion. It does not really matter as the first term in a "net" statement is freely-choosable to suit, not built in to emc2,

The EMC2.5 (dev version) has an XYYZ sim config that might help you.

John

Schnitti wrote:

My opinion is, that the generated ticks and dirs have to go out for 2 motors, but unlike gantry they have to move in same direction.

Gantrykins has the second motor reversed probably just to show that it can be done..
It is easy to switch the direction of one motor, and it can be done in at least 3 ways (invert the parport direction pin, negate that stepgen scale, switch the polarity of one of the motor phases)

So I took xyza sample config and changed it, but i am not totally sure. Do we need 3 or 4 stepgen?

That depends on whether you want to be able to move the two sides of the gantry independently (auto-squaring to two home switches, for example)
If you want them to be truly slaved together, then just use one stepgen and take the physical wires to two drives. (Alternatively, take the output from one stepgen to two sets of parport connections, or use two stepgens both with their inputs linked to the same axis.0.motor-position-command output)

To allow the motors to home separately then become slaved the gantrykins kinematics module is probably the best way.

My way, which results in hang up the computer, so it must be wrong.

The problem in your config is in the INI file. COORDINATES=XYZX is not a valid configuration, your machine is just XYZ. (you might have 4 actuators, but you only have three degrees of freedom)
Also, you define [TRAJ]AXES=4 and setup the parameters in the INI file, but then don't use the extra axis in your HAL file.

Assuming you want to use gantrykins (which is how your HAL file is set up) then you need to add an extra stepgen (add an extra ",0" to the loadrt stepgen line) then add the second X into the hal as a clone of the existing one, but with its own signal names, and using stepgen.3 linked to axis.3 parameters.