[solved] change axis-limits through hal-pins

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01 Apr 2020 23:20 - 01 Apr 2020 23:27 #162404 by Aciera
The creation of kinematics switching has opened a number of new possibilities. One problem I have been struggling with is the fact that with switching kinematics the axis-limits set in the INI also need to be adjusted.
So I recently started a topic that I deleted before anybody could answer because I thought I had found the solution when I found the ini.N.min_limit and ini.N.max_limit HAL-pins.

I thought it was worth reposting this question as solved since dgarrett has kindly provided detailed information regarding this in another thread:

@Aciera re: ini hal pins

Is there a way to alter the min- and max-axis limits


ini hal pins are available for both JOINT_N and AXIS_L
MIN_LIMIT,MAX_LIMIT,MAX_ACCELERATION, MAX_VELOCITY

See the milltask man page (especially notes at bottom):
http://linuxcnc.org/docs/master/html/man/man1/milltask.1.html

In general, an interp-motion sync is needed for ini hal pins
to be recognized for subsequent motion but the sync is
needed to switch kins types anyway.

Recent dgarr/s_kins docs (not commited yet):
www.panix.com/~dgarrett/stuff/switchkins.html
See 3.3 Inifile Limit settings

And intree examples for M128,...:
https://github.com/LinuxCNC/linuxcnc/blob/dgarr/s_kins/configs/sim/axis/vismach/puma/mcodes/M128

Last edit: 01 Apr 2020 23:27 by Aciera.
The following user(s) said Thank You: tommylight, bbsr_5a

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02 Apr 2020 06:50 - 02 Apr 2020 06:55 #162426 by bbsr_5a
solved with no relpay is cool Than you

Question doent the Interpreter make a error if thel imits on the Axis side differ to the joint side
Last edit: 02 Apr 2020 06:55 by bbsr_5a.

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02 Apr 2020 15:23 #162452 by Aciera
No, having different limit values for axis and joints is no problem.

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