2 motors for the same axis

Gloup wrote: With routing step-dir signal: it's seems to be the easy way. But As I undestand this is a non sense to have limit switch on both X axis. And if I have a jump of step on an axis, I will need to recalibrate manually the position of axis. Is it correct ?

Yes, that is correct. The other side of this is that if you home the Joints separately then there is likely to be a moment when the two sides of the X axis are heading in different directions. Homing slaved axes (especially to encoder index) in a truly general manner is a puzzle that has defied easy solution so far.

In case of gantrykins. Do you know if a person has already do a script to switch automatically to "Word mode" after homing. Or maybe if it's possible to add on the PyVCP panel a message to "alert" or give the state of this mode ? Because I'm sure I will forget it each time !

It has been done as a modification to the Axis GUI, but I don't know how well it works.
sourceforge.net/p/emc/mailman/emc-users/....com.au/#msg28307696
If you look under the message titles one of them has a patch file, and other messages say how to use it.

Alternatively I can imagine that a simple userspace HAL component could watch for all the axis.N.is-homed pins going to "true" and issue a command to enter world mode. That may already have been done too.

I will read all these things. Thank you

Hello,
I'm back to you because I'm always trying to work my machine without success.

Regarding the example, I modify my conf.ini. For me it seems ok. I can switch the 2 mode with $ and make the home position. But I have a joint error when I want to use in manual.
I haven't modify the hal file except for "loadrt gantrykins coordinates=XYZX" because I really don't understand what I have to do.

Could you help me again ?

[quote="Gloup" post=65112I have a joint error when I want to use in manual. [/quote]

What is the exact error message?

Hello,
When I launch Linux Cnc, on axis, I don't have X, Y, Z, but 0, 1, 2. I guess this is normal.
I can request an origin on all axis :

• First Z, this is OK
• Second X and X(A) : this is OK. Two axis stop on their own switch limit
• Third, Y, this is OK

Then, when it finish, I switch using $. Now 0, 1, 2 are replaced by X, Y, ... and an error appeare. The exact message is "Erreur de suivi jointure 0". In english, the approximative translation is "error of following joint 0".

Thanks

at least you managed to switch from world mode ,
look in your ini for the follow error values per axis and increase the min follow error to say 0.5