10 Axis stepgen Mcode

Hello there,

I am using a 6i25 with two 7i76 with the firmware 5i25_7i76x2D.bit.

I have ten stepgen available, is it possible to control ten axis?
I pretend to control the 10th axis with stepgen. I've seen that is possible using M functions.

Which is the best way to control it?

Thanks,
André

I need to move ten motors idependantly

I am trying to assembly a machine with ten motors who have to move in diferent directions.
In the beginning I had only 4 axis XYZA. Now I have 9 axis XYZABCUVW
I've added some lines to my .ini and .hal files for more axis/joints to upgrade those 9 axis.
I got movement for the 9 (XYZABCUVW) and I want to move 1 more.
And I cannot to increase the number, only allows me to have 9 axis. Is it possible to add 1 joint/axis ?
How can I do it?

I can leave the i.ini and .hal files if you want to

Thanks,
André

You can command another motor, but not as an "axis". What exactly do you plan to do with this 10th motor? You can use a Limit3 component as a rudimentary motion controller and send commands to it using custom M-codes. But you will not be able to do interpolated motion with it as you can with the other axis that have assigned axis letters. Homing this 10th axis may also be complicated.

My 10th motor is a rotary base and there are no need to do interpolated motion.
I am fresh in Linux, how can I use Limit 3?
How can I customize M-codes

Thanks,
André

The limit3 is used mainly to limit the velocity and acceleration. You load it into your hal file and pass the position commands for your motor through it and it outputs a value at the rates of change specified until the new commanded value is achieved.
linuxcnc.org/docs/html/man/man9/limit3.9.html

If you are using a software stepgen you may not even need to use the limit3. It has its own velocity and acceleration limits built in.

A user defined M-code (M100-M199) is simply an executable script file saved on your hard drive that is executed when commanded in your G-code. It can be used to do all manor of different things, but in this case it would be used to set the value of your motors position (and velocity if you like) with a simple "hacmd setp" command.
linuxcnc.org/docs/html/gcode/m-code.html#mcode:m100-m199

I am trying to config joint_9. There is any module to load for extra joint?
What I need to change?


Added to my .ini :


Added my .hal file:


And appears an error of unknown parameter




It doesn't recognise the extra joints.