12axis Step output

Hello all members,

i have came across one application which requires 12Axis or more. have seen many Chinese PCI cards doing it, application is jewellery making. can anyone throw light how to add more axis in config ?? no kinematics needs just numerical stop n go would do. have tested upto 5axis on par-port.
Much thanks in advance.

Regards .
Ankit

Linuxcnc can do 9 axis , in cartiesen space , in world mode you'd get probably 12 , over that you would probably need to modify sources , but i cant see even jewellery needing more than 6 .

Thanks Mod,

Here is machine i am thinking of, >>

I need sub spindle axis and separate cutting tools. and apart from jewelery there is one spring forming application i am thinking of.

About modifying sources. i don't know i am very beginner recently switched from mach. still fighting for locating kinematics module in 2.7.4 Debian thats parallel story, not succeed yet.

if you could give any hint where to start from.

Thanks Again.
Ankit Mistry

Tried Adding more axis to stock stepper Config received this message. Suggestion ?

Debug file information:
.
Error: could not insert module /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/motmod.ko: Operation not permitted
./stepper_xyza.hal:7: exit value: 1
./stepper_xyza.hal:7: insmod for motmod failed, returned -1
See the output of 'dmesg' for more information.
30115
PID TTY STAT TIME COMMAND
30115 ? R+ 0:00 [linuxcncsvr]
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Error: Module motmod is not currently loaded
<commandline>:0: exit value: 1
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed


Regards,
Ankit Mistry

If the additional axis do not need coordinated movement (or standard Gcode control),
indexing motion can be done by using the limit3 component and a stepgen
Perhaps using M67/68 for position commands

Homing would need to be handled in the hal file

Coordinated movement is needed.... like jog and follow

Ended with Error loading motmod.ko,

Debug file information:
.
Error: could not insert module /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/motmod.ko: Operation not permitted
./9ax.hal:5: exit value: 1
./9ax.hal:5: insmod for motmod failed, returned -1
See the output of 'dmesg' for more information.
4130
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components
Error: Module motmod is not currently loaded
<commandline>:0: exit value: 1
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed

One Hint

[ 129.429879] RTAI[math]: loaded.
[ 129.554451] MOTION: num_joints is 12, must be between 1 and 9
[ 131.750218] RTAI[math]: unloaded.

Now question is how to modify Math or stepgen.c file ??
i tested with 9axis configuration it has to work and it worked since it says joint must be between 1-9 number


Regards,
Ankit Mistry

Is there any possibility to modify emcmotcfg.h file ?? and which other files need to be modified ??

Edit: I have tried simply copy paste edited file in motion folder, previous debug message is after that editing and editing havent made any change in error. i mean changing number of maximum joints isnt make any difference by simple editing. am i missing anything.??


/********************************************************************
* Description: emcmotcfg.h
* Default values for compile-time parameters.
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
#ifndef EMCMOTCFG_H
#define EMCMOTCFG_H

/* default name of EMCMOT ini file */
#define DEFAULT_EMCMOT_INIFILE "emc.ini" /* same as for EMC-- we're in
touch */

/* number of joints supported
Note: this is not a global variable but a compile-time parameter
since it sets array sizes, etc. */
#define EMCMOT_MAX_JOINTS 12 This Value was 9
/* number of axes defined by the interp */ //FIXME: shouldn't be here..
#define EMCMOT_MAX_AXIS 12 This value was 9

#define EMCMOT_MAX_DIO 64
#define EMCMOT_MAX_AIO 64

#if (EMCMOT_MAX_DIO > 64) || (EMCMOT_MAX_AIO > 64)
#error A 64 bit bitmask is used in the planner. Don't increase these until that's fixed.
#endif

#define EMCMOT_ERROR_NUM 32 /* how many errors we can queue */
#define EMCMOT_ERROR_LEN 1024 /* how long error string can be */

/*
Shared memory keys for simulated motion process. No base address
values need to be computed, since operating system does this for us
*/
#define DEFAULT_SHMEM_KEY 100

/* default comm timeout, in seconds */
#define DEFAULT_EMCMOT_COMM_TIMEOUT 1.0
/* seconds to delay between comm retries */
#define DEFAULT_EMCMOT_COMM_WAIT 0.010

/* initial velocity, accel used for coordinated moves */
#define DEFAULT_VELOCITY 1.0
#define DEFAULT_ACCELERATION 10.0

/* maximum and minimum limit defaults for all axes */
#define DEFAULT_MAX_LIMIT 1000
#define DEFAULT_MIN_LIMIT -1000

/* size of motion queue
* a TC_STRUCT is about 512 bytes so this queue is
* about a megabyte. */
#define DEFAULT_TC_QUEUE_SIZE 2000

/* max following error */
#define DEFAULT_MAX_FERROR 100

#endif


Have also used modified stepgen.c but i think in 2.8Dev its by default 16channel output and no need to add stepgen.c thanks to Big_johnT

Regards,
Ankit Mistry

Alright Andy, i was in confusion that which letter will specify 10..11..12th axis ... as far as my study says there is no any other axis letter left. and finally ended with answer that its just customized IO, people market it as a 12axis. at a time mostly 4or 5 axis will be in simultaneous movement.

Now trying to workout 9axis on board. thanks for all of your inputs thanks a ton

Regards,
Ankit Mistry