4 Axes Machine Questions

I finally got some time to play with some setups and I am not quite sure that gantrykins is going to work. At least not as it is right out of the box. When I switch the command of the 4th axis from slaved to independent I am getting a joint following error. I'd like to look into tweeking the code myself, but I am not sure how to access it. (sorry my newb is showing)

I have not realy set up anything specific to the mahcine yet. All I did was add gantrykins to the sim inch setup (that ouputs steps to the pc speaker) with Z and A slaved. I have to get a simulation I feel works before I try it on one of our machines that are currently running production.

someone mentioned writing a script to adjust the G code files. This might be my best option, but something tells me this might be harder than it sounds.

I'd need something that could take code like this:

G1 X7.286672 Y10.920909 Z-0.165422
G1 X7.290075 Y10.882176 Z-0.162863
G1 X7.289496 Y0.985702 Z-0.161858
G1 X7.286561 Y0.942836 Z-0.161923
G1 X7.280504 Y0.912766 Z-0.166510
G1 X7.256354 Y0.833603 Z-0.159223
G00 Z0.25
G00 X7.006710 Y0.939417 Z0.25
G00 Z0.0
G1 X7.006710 Y0.939417 Z-0.079312
G1 X6.995858 Y0.916412 Z-0.086247
G1 X6.980558 Y0.899274 Z-0.080125
G1 X6.937673 Y0.867952 Z-0.085329
G1 X6.918087 Y0.863142 Z-0.087211
G1 X6.889543 Y0.859730 Z-0.086135

and turn it into code like this:
(the axis letter W would need to be what ever the 4th axis is)

G1 X7.286672 Y10.920909 Z-0.165422 W-0.165422
G1 X7.290075 Y10.882176 Z-0.162863 W-0.162863
G1 X7.289496 Y0.985702 Z-0.161858 W-0.161858
G1 X7.286561 Y0.942836 Z-0.161923 W-0.161923
G1 X7.280504 Y0.912766 Z-0.166510 W-0.166510
G1 X7.256354 Y0.833603 Z-0.159223 W-0.159223
G00 Z0.25 W0.25
G00 X7.006710 Y0.939417 Z0.25 W0.25
G00 Z0.0 W0.0
G1 X7.006710 Y0.939417 Z-0.079312 W-0.079312
G1 X6.995858 Y0.916412 Z-0.086247 W-0.086247
G1 X6.980558 Y0.899274 Z-0.080125 W-0.080125
G1 X6.937673 Y0.867952 Z-0.085329 W-0.085329
G1 X6.918087 Y0.863142 Z-0.087211 W-0.087211
G1 X6.889543 Y0.859730 Z-0.086135 W-0.086135

Are you refering to fixing my problem with gantrykins, or an alternate solution using trivkins?

So what could the M code look like (using A instead of W, using W as a 4th axis will be a topic of another discussion)

for ZZ

---

#!/bin/sh
halcmd net Apos-cmd axis.2.motor-pos-cmd => stepgen.3.position-cmd

---

and for ZA

---

#!/bin/sh
halcmd net Apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd

---

I tried it and received the error

Debug file information:
core_stepper.hal:32: Pin 'axis.2.motor-pos-cmd' was already linked to signal 'Zpos-cmd'
7643

I changed it to

Zpos-cmd axis.2.motor-pos-cmd => stepgen.3.position-cmd

Then when I try to jog z I get a joint 3 following error