2 motors for the same axis

Hello,

I have a short question before configure my new CNC 3-axis.
I have 2 motors for the axis X, and each motors have its own limit switch.
Of course, to move, the 2 motors must be synchronized.
At the moment my configuration with the parallel port is like that => X Y Z X(A)

I read lot of things on the forum and all subjects corresponds to previous version of LinuxCnc.

My question is, with current version of LinuxCnc, is there something simple to make this kinf of configuration ?

If not, could you confirm me that I have to use Kins ? using this way ?

Hope you can help me to start in the right way.

thanks

I think you want to use gantrykins. You can see some information about it here.

Thank you. I will continue in this way to try to understand gantrykins

There is a sample configuration in the configuration picker that uses gantrykins. It is under "Sample Configurations - sim - axis - gantry" in the config picker tree. There is a .ini file called gantry.ini and a HAL file called gantrysim.ini in the linuxcnc\configs\sim.axis folder.

Note that in the Gantrykins demo (and any other system that uses non-trivial kinematics) you need to switch to "World Mode" after homing.
This can be done through the menu in Axis, or with the $ keyboard shortcut.

You will see that in Joint mode the GUI shows joints 0, 1, 2, 3 and in World mode it shows XYZ.

This makes a lot of sense for a robot, but is a bit weird for a gantry.

Other ways to do this include using the Joint-Axes branch of LinuxCNC (which is experimental, so you might need to compile it) and the "Gentrivkins" kinematics module which allows joint mapping like gantrykins but does not lead to the separate joint mode / world mode.

Alternatively you may well prefer to just route the step-dir signals in HAL from one axis to two drivers.

Thanks for these complementary information.
I will try to configure the machine this evening. Just to be sure that I have clearly understand.

With routing step-dir signal: it's seems to be the easy way. But As I undestand this is a non sense to have limit switch on both X axis. And if I have a jump of step on an axis, I will need to recalibrate manually the position of axis. Is it correct ?

In case of gantrykins. Do you know if a person has already do a script to switch automatically to "Word mode" after homing. Or maybe if it's possible to add on the PyVCP panel a message to "alert" or give the state of this mode ? Because I'm sure I will forget it each time !