Lathe Z axis/joint not homing after updating to 2.8

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22 May 2019 22:07 #134624 by Hakan
I have JOINTS=2 and COORDINATES= X Z in my lathe and that works fine. There was a change when moving to 2.8, don't remember exactly but it was along the lines that a Y axis needed to be defined but not used. In 2.8 that isn't needed anymore. Two joints refered to as JOINT_0 and JOINT_1, and AXIS_X and AXIS_Z.

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22 May 2019 22:11 #134625 by cmorley
try this:
[TRAJ]

COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[KINS]

KINEMATICS = trivkins coordinates=xz
JOINTS = 2

Chris M

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22 May 2019 22:14 #134626 by cmorley
Did you make this config with pncconf in 2.8 or did you convert it from 2.7?

Thanks

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23 May 2019 03:48 #134658 by vmihalca
I converted from 2.7, it was working fine there.

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23 May 2019 04:38 #134661 by cmorley
Ok that makes sense - things have changed a bit in 2.8.
Changing things as above should fix it.
We probably should add an error if [JOINT] sections are missing.

Chris M

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23 May 2019 04:39 #134662 by rodw

cmorley wrote: try this:

[TRAJ]

COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[KINS]

KINEMATICS = trivkins coordinates=xz
JOINTS = 2

Chris M


CHris, I can't see that will work out of the box becasue he will have wired his lathe in 2.7 to the Z (joint2) axis so your solution puts the Z axis on a different stepgen. SO he would need to rewire.

I think lathes have been overlooked with the joint axis and if its not properly resolved this will be very wasteful of resources once more and more people move to V2.8

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23 May 2019 04:41 #134664 by cmorley
Oh yes you are quite right - he will also need to change the ini and HAL file to change all [JOINT_2] to [JOINT_1]

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23 May 2019 04:47 #134665 by cmorley
Yes I anticipate the masses converting from 2.7 to 2.8 will have some problems.
Andy's script for conversion probably covers 90% - maybe we can catch this with that.

I have also started to consider whether an INI validation would be useful/possible.
I have used a basic version of that with my panelui project.

But I good error message would have brought this in light more quickly.
But good eyes you have there Rod!

Chris M
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23 May 2019 06:39 #134667 by rodw
Chris, I think what this shows is that the so called independent (joint) axes is not independent as you can't skip a nonexistent joint (as you need to on a lathe, unless its like my manual one where the DRO is marked for X & Y! :) )

I don't know how hard it would be but perhaps the trivkins coordinates string needs another NULL item so you could do something like this
KINEMATICS = trivkins coordinates=x-z
Which would be an instruction to skip joint1

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27 May 2019 17:20 #135074 by vmihalca
Changing joint_2 to joint_1, got the job done.
Thanks guys! :D
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