axes, joints and configurating your own machine

Dear readers,

I'm new to EMC2, but not to mechanical machine design (SolidWorks) and controlling machinery (motion control with Mitsubishi Q system positioning card).

After spending a day printing documentation and reading the manuals i can't figure out where or how i should configure EMC/HAL so that they know how my custom machine should be controlled.

Where do i start if i want to control say a simple robotic arm (2 limbs), with 2 rotary joints, A and B, where A is fixed, and B sits on the end of the limb controlled by A, and the second limb is controlled by B.
I can figure out the mathematics, but where do i configure. It seems that i have to write C code (not a big problem) and compile when i read www.linuxcnc.org/docs/devel/html/motion_kinematics.html . But what do i do next?

Thanx, Bas

Hi John,

The math is clear to me, but where do i put the code and tell EMC2 and HAL there is this (my own just recently made) kinematics module i want to use for my machine?

Bas

Hi John

That's what i was searching for.
If i understand this right, then all i have to do is do the math, write the kinematics file, place it in the right folder and tel HAL where it is.

Do i have to compile my newly created kinematics file or is the C code sufficient ?

Thanks, Bas