Master and Slave axes in EMC2+Montec

@ Rick:

If it is fully functional, I will use 4 Motors and leave off the belt. The belt is vibrating and needs additional damping at fast moves.

The example hangs my computer. some files got 0 Byte long. manual copy, restart, hang again.

they are using a XYZA modell.

Does anyone run a gantry with htis config? Really running? What are the experiences with it?

Here the relevant parts:


# Kinematics
loadrt gantrykins

# Settings for gantrykins
setp gantrykins.joint-0 0
setp gantrykins.joint-1 1
setp gantrykins.joint-2 2
setp gantrykins.joint-3 1

++++++++++++++++++++++++++++++++++++++++
setp stepgen.3.position-scale [AXIS_3]SCALE

# Set stepgen module velocity limits - get values from ini file

# Set stepgen module accel limits - get values from ini file

setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL

# Hook up stepgen to motion modules

net PosA-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net PosA-fb stepgen.3.position-fb => axis.3.motor-pos-fb

# Hook up enable signals for step generators
net EnableX axis.0.amp-enable-out => stepgen.0.enable
net EnableY axis.1.amp-enable-out => stepgen.1.enable
net EnableZ axis.2.amp-enable-out => stepgen.2.enable
net EnableA axis.3.amp-enable-out => stepgen.3.enable
++++++++++++++++++++++++++++++++++++++++++

# Hook up the step and dir signals to the parport pins
# Axis A and Y are the same axis but different motors
net StepX stepgen.0.step => parport.0.pin-02-out
net StepY stepgen.1.step => parport.0.pin-03-out
net StepZ stepgen.2.step => parport.0.pin-04-out
net StepA stepgen.3.step => parport.0.pin-05-out
net DirX stepgen.0.dir => parport.0.pin-06-out
net DirY stepgen.1.dir => parport.0.pin-07-out
net DirZ stepgen.2.dir => parport.0.pin-08-out
net DirA stepgen.3.dir => parport.0.pin-09-out

+++++++++++++++++++++++++++++++++++++++++++

TRAJ]
#+ machine specific settings
AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = 1.0
ANGULAR_UNITS = 1.0
DEFAULT_VELOCITY = 100
MAX_VELOCITY = 180
DEFAULT_ACCELERATION = 600
MAX_ACCELERATION = 2400

+ Second axis (Y)
[AXIS_1]

TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 170
MAX_ACCELERATION = 2400
STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
SCALE = 150.333
MIN_LIMIT = -1
MAX_LIMIT = 6050.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1


#+ Second axis (A)
[AXIS_3]

TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 170
MAX_ACCELERATION = 2400
STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
SCALE = 150.333
OUTPUT_SCALE = 1.000
MIN_LIMIT = -1
MAX_LIMIT = 6050.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

Andy,

I totally agree to you.

It results in your first proposal, hard connecting the wires/pins.

Hi there,

BigJohnT wrote a good post #5005 with an example from 4.5

and I found this:

INI

this is close to my understanding. n axes and m joints possible.

Hello!

I have a gantry machine and currently I am using custom kinematics module, but at the beginning I was using gantrykins, so I will try to share my experience.

First thing is that AFAIK in EMC2 the number of joints in joint mode and number of axis in world mode is the same. I have 2 motors on X axis and I have always had XYZA axis in world mode. I do not know the way to change that, From the discussions with Andy Pugh I recall that he mentioned - this joint/axis thing will be sorted out in one of the next major releases of EMC2, because there is A LOT of rewrite to do to sort it out.

So my opinion:
1) put 4 joints in INI file - from Axis0 to Axis3,
2 in kinematics file assign joint to axis in whatever order You want - I have joint.0 and joint.1 assigned to X axis
3) my subjective suggestion - in HAL file You have x and x1, I think that for any reader it would be easier to understand, if You had x1 and x2 - both with numbers. You are kindly welcome to ignore this, if You prefer so
4) unfortunately - get used to having one more axis un world mode in EMC2. AFAIK it just is the way it is. That won't hurt anyway - You can even test - try some test g-code and include commands for A axis - nothing happened when I tested it.

So conclusion - gantrykins is working nicely, just the thing that EMC2 wants the number of axis to be the same as number of joints, but I do not know, if there is a solution yet. If there is, please let me know, I would like to sort that out too.

Hi,

OK thats same result I got when testing it.

Screenshot with axis NOT running A but HAL does.



Thanks.

Wolfgang