Master branch gantry example

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26 Feb 2018 04:13 #106523 by rodw
rodw created the topic: Master branch gantry example
This is a minimalist example of a gantry machine using The independent joints (some call it joint axes) that exists in master branch.
While this is based on my Mesa 7i76e, the concepts should apply to a parallel port.
Note the only place the axes are defined in the TRAJ section of your ini file
INS]
JOINTS = 4
KINEMATICS = trivkins coordinates=YYXZ

All of the Hal pins and signals use joint numbers and exes have been banished.

Now all we have to do is to convince the custodians of stepconf and PNCCONF to follow this code example which will substantially simplify maintenance of the config and allow you to swap the origin of your machine around at will simply by changing the coordinates in the kinematics statement. This will require some changes to their current input screens.

Also, this lets you swap between axis and gmocapy GUIs just by commenting/uncommenting out the display file in the INI file
[DISPLAY]
DISPLAY = axis
#DISPLAY = gmoccapy

File Attachment:

File Name: my_LinuxCN...-rod.hal
File Size:13 KB

File Attachment:

File Name: my_LinuxCN...-rod.ini
File Size:5 KB
Attachments:
The following user(s) said Thank You: cncnoob1979, Yannis, Desertboy
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