Gantry Homing

I have a CNC router that I have been running on a parallel port and am trying to convert it use the Mesa 5i25. I used some custom software to implement gantry squaring for the parallel port. The scheme I used will not work using the 5i25.

I found the following thread www.forum.linuxcnc.org/38-general-linuxc...1013-ja14-not-homing and have tried to modify hal and ini files to match the examples I found.

I am running master 2.8.0~pre1.

My router joint configuration is xyyza. When I load the attached configuration and try jogging, the x axis works properly.
When I try the y axis only the first motor moves. When I try the z axis I get a joint2 follow error.

Is the JointAxis code in the current master build or do I need to build another branch to get that?

Any ideas of things to try

Y2 is missing the PID component connections (and the Y2 PID component)

Not sure what's wrong with Z at first glance

Joint axis is built into master. You don't need to do any custom code. Just set the homing offsets on your Y joints to be -1 (has to be negative and have to be the same) and then use the homing offsets to square the gantry in software when it homes.

Thanks for the help.

I got it working. I added the pid section to the second y axis. That fixed the z axis error because the z axis jogs the second y axis before it is homed. I found the Joint Axis documentation and fixed a couple of minor things in the ini file. I added HOME_OFFSETS to my y and y2 axis. My home switches are aligned so the offsets are the same for now. I moved one axis out of alignment and tested that it aligns properly.

I have attached the updated files as a current working example.

Hi
I try to set the same gantry router except the A axis(i have C axis)
what mesa card do you use?
thanks
Yannis