delta config

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mngr0
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Junior Member

19 Jul 2018 17:19 #114531 by mngr0

delta config was created by mngr0

Hi,

I am trying to configure HAL to control a delta machine.
In machinekit I have to use "loadrt lineardeltakins", but if I try in linuxcnc it doesn't find that kinematics.
I searched a bit in the forum, with no luck.
what should I do?

Possible solution: copying lineardeltakins from machinekit, does it have chance to work?

regards
mngr

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Grotius
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Platinum Member

19 Jul 2018 22:15 - 19 Jul 2018 22:20 #114537 by Grotius

Replied by Grotius on topic delta config

Hi,

This file already exists in linuxcnc. I have tested this with 2.8 pre

In 2.8 pre lineair delta is available
Maybe this short hal file sample can help you :

# core HAL config file for simulation

# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
#loadrt lineardeltakins
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

loadusr -W lineardelta MIN_JOINT=-420