CoreXY and handling of axis limits

Dohhh. I was looking a the resulting pins. Sorry about that.


I've upgraded and the only problem I have now is I still need the 4 axes for it to start, even though I have 3 axes and 4 joints. (tetrapod config, not a gantry).

It fails with this error:

./kintest.hal:219: Pin 'joint.3.motor-pos-cmd' does not exist

So it looks like the number of joints is still tied to the number of axes.

When I choose 4 axes, I can jog fine in world mode, but if I try to run a program I get this error:


USRMOT: ERROR: invalid command
Linear move on line 3 would exceed A's positive limit



I've tried including a fake A axis (below) and setting it's limit to a large number, but it still gives me this error.

[AXIS_A]
HOME = 0
MIN_LIMIT = 0
MAX_LIMIT = 99999

Try jogging all axes away from home and touch off (or use G92 x0 y0 z0 command) before running your program.

Also and I'm not sure about your corexy but the joint axis HOME_SEQUENCE should be negative with joint axes sharing the same value (eg -1 for both joints)

I actually don't have a CoreXY machine. I just sort of hijacked this thread, sorry.


I did try touching off and homing before and still no luck. I'm quite confused since there is currently no mention of [TRAJ]AXES in the 2.8 documentation, but linuxcnc will not start without it. I'll start an issue on the github.


EDIT: Looking at the other INIs I found if I set [EMC]VERSION to 1.0 it was not required.

Success! I found the issue. It was actually the result of my custom kinematics file setting axis A to joint 3 in my reverse kinematics. After this was fixed it now works.