Dead in the water on 7i92 config

OK, bad latency would expected since this is not a Preempt RT kernel

Here are some instructions for installing a Preempt-RT kernel on the standard LinuxCNC wheezy distribution ISO:

linuxcnc.org/docs/html/getting-started/g...th_preempt_rt_kernel

OK, that seems to be it! X and Y don't end up in Following error and move quite quickly!

However, major trouble with the Z-axis (axis 2). It's much slower because of the weight, and only 5 in/sec speed listed. TRAJ is much faster to allow fast X/Y jogging.

But I don't get it. Now Z appears to be trying to go well above its 5 in/sec limit. It may stall, it may generate a "Following Error". Doesn't the TRAJ section still respect the axis limitations?

Hope I can get some more help here:

I have gantrykins here. What I'm seeing is that IF you manipulate either of the linked axes (0 or 3) in Joint mode, when you switch to World mode it throws "Following Error" without moving.

So, best guess is that moving one without the other is incorrectly seen as moving the expected location of the second motor, and it somehow doesn't matter in Joint mode but becomes a killer for the PID in World mode and it finds the axes aren't at the same count?

Any ideas how to fix this?

use trivkins and the gantry comp for homing instead of fighting gantrykins?

Well, there's 2 other requirements.

One, independent homing to correct for racking.

Second, I have an XHC-HB04 mpg. I was trying to set it up but heard that gantrykins can't support "incremental jogging" mode that uses.

I'm not sure of what solution can do what.

I couldn't get gantrykins to move the axis in World mode (teleops), just Joint mode. I was told that's a known limitation of gantrykins. Which IS weird, since Y and Z aren't even linked. Just X.

I couldn't get gantrykins to move the axis in World mode (teleops), just Joint mode. I was told that's a known limitation of gantrykins. Which IS weird, since Y and Z aren't even linked. Just X. But none of them would move in World mode, all moved in Joint mode.

How were you trying to move them? If you were trying to move them with an incremental jog command. Incremental jogging doesn't work in world mode.