EMC setup
John
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www.linuxcnc.org/docview/html/config_ini_config.html
2.2.8 [TRAJ] Section The [TRAJ] section contains general parameters for the trajectory planning module in EMCMOT.
COORDINATES
= X Y Z The names of the axes being controlled. X, Y, Z, A, B, C, U, V, and W are all valid. Only axis named in COORDINATES are accepted in g-code. This has no effect on the mapping from G-code axis names (X- Y- Z-) to joint numbers--for "trivial kinematics", X is always joint 0, A is always joint 4, and U is always joint 7, and so on. It is permitted to write an axis name twice (e.g., X Y Y Z for a gantry machine) but this has no effect.
AXES = 3
One more than the number of the highest joint number in the system. For an XYZ machine, the joints are numbered 0, 1 and 2; in this case AXES should be 3. For an XYUV machine using "trivial kinematics", the V joint is numbered 7 and therefore AXES should be 8. For a machine with nontrivial kinematics (e.g., scarakins) this will generally be the number of controlled joints.
HOME
= 0 0 0 Coordinates of the homed position of each axis. Again for a fourth axis you will need 0 0 0 0. This value is only used for machines with nontrivial kinematics. On machines with trivial kinematics this value is ignored.
You can edit your ini file for the position you want to be home.
Rick G
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I have not got a grasp on the use of the hal.ini file yet.
If your referring to the .hal files a short intro is here.
linuxcnc.org/docview/html/hal_basic_hal.html
John
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Rick G
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