I went through this learning curve. There are a couple of foundational concepts to wrap your head around first.
Your machine will be a 3 axis machine, composed of FOUR individual "Joints". A joint, in this case is one motor, driving one screw/belt. You will need sections in both your HAL and INI files to configure a 2nd Joint for whichever axis will have two motors on it. In my case it's the Y axis, so my configuration files reference the two joints of the Y axis as :
HAL Config
#*******************
# JOINT Y1
#*******************
Settings, blah, blah
and
#*******************
# JOINT Y2
#*******************
Settings blah, blah
This allows all the signals and pin assignments for each joint to be made identical, so they both behave the same and both receive instructions when Y axis moves are commanded.
In the INI file, you need to start by correctly defining your geometry. Currently yours says:
GEOMETRY = xyz
Mine says:
GEOMETRY = XYYZ
You'll also need these:
KINS]
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
JOINTS = 4
[TRAJ]
COORDINATES = X Y Y Z
Then below, each joint has it's own configuration label, which I added an additional comment to, in order to clarify the usages:
#********************
# 2 Joints in Y Axis
# Joint 1 Y1
[JOINT_1]
#********************
Config settings for Y1 here.....
Then new section
#********************
# Joint 2 Y2
[JOINT_2]
#********************
Config settings for Y2 here...
Immediately after those two sections, a final section ties the tow JOINTS together into the single virtual Y AXIS -- this:
# Axis Y
#********************
[AXIS_Y]
MAX_VELOCITY = 50
MAX_ACCELERATION = 80
MIN_LIMIT = 20
MAX_LIMIT = 390
#********************
At the risk of embarrassment, I'll share my own files below. You can analyze them and see if it helps define the things that are missing from your setup.
