joint_axes3 and gentrivkins

I want to build a machine with a gantry Y axis.

I have try the normal gantrykins confing and it works but it's not really a nice implementation, i can't figure out how to slow down the Z axis when jogging in axis mode (in joint mode it respects the ini file maximum speed in axis mode it doesn't, for what reson i don't know). the other problem is with the machine limit, which are not as neat as usual, where the machine will not jog over the limit no matter what, with gantrykins the machine will have message popping up exceed soft limit, but then you can keep jogging past the limit, which is bad.

so i have searched and looked, and found some posts about the gentrivkins in joint_axes3 branch which works much more nice, always in axis mode and with good working limits.

i just can't figure out how to set the .ini and .hal file properly.

is there a sample configuration for a gantry using gentrivkins instead of gantrykins?

my problem right now is the connection between axis and joints.
what i mean is like gantrykins where you write

loadrt gantrykins coordinates=axisletters

to set up which axis is which joint.

how do i do it with gentrivkins?

Where can i get some support or advice for joint-axes and gentrivkins?

I did try with the mailing list, no one reply..

I'm starting to think this might be a bug.

I have been searching and everyone seems to have get it to work without much questions, I don't get why I can't

I got snapshots from github of both source for joint_axes3 and joint_axes4 and in both it ain't working.

Please I need some help...

I have zipped and attached the configurations files I'm using to test, they are from the original axis sim, i have made changes to have them working with ja3

Open the gantry.ini or axis_mm.ini for testing.

I think I have setup everything right but the axis won't move correctly.

i setup the coordinates of gentrivkins=XYYZ

If this is working like gantrykins, and for what i have read it should, then;

X=JOINT_0
Y=JOINT_1&2
Z=JOINT_3

But if you run my attached configuration, you'll see that it is not like that, moving X will move joint 0 and so X will move, and this is OK, then moving Y will move joint 1 and nothing will move in axis interface, moving Z will move joint 2 and in axis Y will move.

to see this watch the joints pos-cmd of the four joints, move the axis, and look at what axis moves on the axis displayed position.

I have try everything i can think of, it just doesn't work....

I cleaned the configs, axis_mm.ini is kinda like what I am trying to do, gantry.ini is just the original gantry that was working with the gantrykins, changed to gentrivkins.

both configs work properly if the kinematics is changed to gantrykins.