More help with two steppers on one axis please
15 Jul 2017 17:44 #95821
by aaron
Replied by aaron on topic More help with two steppers on one axis please
Hi
I have just spent another day battling with ini and hal files and loosing.
Can you tell me, should I be using gantrykins or trivkins. In some attempts I have been getting the error message: 'can't find gantrykins'?
After generating an xyza configuration from Stepconfig and editing the ini file do I need to edit the hal file as well?
I would still love to see example ini and hal files for a simple xyz axis / 0,1,2,3 joint stepper system that homes joints 0 &1 nicely together
Best
Aaron
I have just spent another day battling with ini and hal files and loosing.
Can you tell me, should I be using gantrykins or trivkins. In some attempts I have been getting the error message: 'can't find gantrykins'?
After generating an xyza configuration from Stepconfig and editing the ini file do I need to edit the hal file as well?
I would still love to see example ini and hal files for a simple xyz axis / 0,1,2,3 joint stepper system that homes joints 0 &1 nicely together
Best
Aaron
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- Todd Zuercher
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15 Jul 2017 21:47 #95824
by Todd Zuercher
Replied by Todd Zuercher on topic More help with two steppers on one axis please
With Master, you only need to use trivkins. Gantrykins was made obsolete with the advent of JA in Master.
I am pretty sure there are example configs included with Master demonstrating just that.
I am pretty sure there are example configs included with Master demonstrating just that.
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15 Jul 2017 23:27 #95829
by rodw
Replied by rodw on topic More help with two steppers on one axis please
My KINS section of the ini file looks like this
After editing your ini file to make the A another X axis, you'll need something likeDon't add anything else to this section. If you have kinstype=both on the KINEMATICS line, you must remove it
I would review the hal file for the A axis generated code. It may need correcting.
Maybe you could post up your hal and ini files
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XXYZAfter editing your ini file to make the A another X axis, you'll need something like
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZXI would review the hal file for the A axis generated code. It may need correcting.
Maybe you could post up your hal and ini files
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16 Jul 2017 08:44 #95836
by aaron
Replied by aaron on topic More help with two steppers on one axis please
Hello each and all
I want to thank every body who posted on this thread, from the bottom of my heart, for not giving up on me.
It now works better than I ever hoped it would
Very great respect
Aaron
I want to thank every body who posted on this thread, from the bottom of my heart, for not giving up on me.
It now works better than I ever hoped it would
Very great respect
Aaron
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16 Jul 2017 09:27 #95837
by rodw
Replied by rodw on topic More help with two steppers on one axis please
Aaron, you are welcome but you have to tell us what you did to fix it!
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17 Jul 2017 08:09 #95870
by aaron
Replied by aaron on topic More help with two steppers on one axis please
Oh no. Very embarrassed to say I spoke too soon
All axis home beautifully, but it will only jog on joint 0 of the X axis. This is a Hal problem, right?
I have attached hal and ini files in the hope that your pity/generosity can be extended a little further
Best and thanks
Aaron
All axis home beautifully, but it will only jog on joint 0 of the X axis. This is a Hal problem, right?
I have attached hal and ini files in the hope that your pity/generosity can be extended a little further
Best and thanks
Aaron
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17 Jul 2017 10:05 #95874
by rodw
Replied by rodw on topic More help with two steppers on one axis please
From what I can see, the error is in your .ini file. You have not told LinuxCNC there is a joint X axis and are still referring to Axis A which does not exist.
This
Should be
and this can be deleted or commented out
In your hal file, this has is confusing but is not an error.
I'd probably make it
But then you will need to change this line
to
This
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZAShould be
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZXand this can be deleted or commented out
[AXIS_A]
MAX_VELOCITY = 75.0
MAX_ACCELERATION = 380.0
MIN_LIMIT = -10.0
MAX_LIMIT = 2430.0In your hal file, this has is confusing but is not an error.
net home-a <= parport.0.pin-13-inI'd probably make it
net home-x1 <= parport.0.pin-13-inBut then you will need to change this line
net home-a => joint.3.home-sw-into
net home-x1 => joint.3.home-sw-in
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17 Jul 2017 16:33 #95922
by andypugh
Replied by andypugh on topic More help with two steppers on one axis please
Can you just clarify something? Do you actually have, or want, a rotary axis "A"?
In the joints-axis branch the letters XYZABCUVW only _ever_ refer to positions in cartesian workspace. They are a completely different thing than the motor movements that make the tool move to those positions and orientations.
The trivkins module is where the XYZABUVW commands in the G-code become commands to move each motor. If your HAL file has (possibly after values are read-in from the INI file)
loadrt trivkins coordinates=XXYZA
then the X-commands in the G-code are sent to the joint.0.motor-position-cmd _and_ the joint.1.motor-position-cmd pins. (and, in that example, A-commands in G-code are passed on to joint.4.motor-position-cmd)
The INI file [TRAJ]COORDINATES= section tells the interpreter what axis letters are valid G-code on the machine, and also tells the GUI which axes to display. [TRAJ]COORDINATES and trivkins coordinates= are not the same thing.
In the joints-axis branch the letters XYZABCUVW only _ever_ refer to positions in cartesian workspace. They are a completely different thing than the motor movements that make the tool move to those positions and orientations.
The trivkins module is where the XYZABUVW commands in the G-code become commands to move each motor. If your HAL file has (possibly after values are read-in from the INI file)
loadrt trivkins coordinates=XXYZA
then the X-commands in the G-code are sent to the joint.0.motor-position-cmd _and_ the joint.1.motor-position-cmd pins. (and, in that example, A-commands in G-code are passed on to joint.4.motor-position-cmd)
The INI file [TRAJ]COORDINATES= section tells the interpreter what axis letters are valid G-code on the machine, and also tells the GUI which axes to display. [TRAJ]COORDINATES and trivkins coordinates= are not the same thing.
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18 Jul 2017 07:05 #95957
by aaron
Replied by aaron on topic More help with two steppers on one axis please
Thanks both very much
Thats done it. Finally.
Yes, I do have a rotary attachment so I did want to keep another axis in the mix somehow, but for now I am more than happy with just XY and Z.
Kindest regards
Aaron
Thats done it. Finally.
Yes, I do have a rotary attachment so I did want to keep another axis in the mix somehow, but for now I am more than happy with just XY and Z.
Kindest regards
Aaron
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18 Jul 2017 08:07 #95960
by joel0407
Replied by joel0407 on topic More help with two steppers on one axis please
I don't want to hijack your thread mate but I'm having similar problems working it out. I think I'm even further back than you are.
Are you using a Parallel port break out board? If so, how have you configured it? Stepconf doesn't give options for X1 and X2, just X. So do I use 2 x X pins? Or do I need to edit a INI or HAL file for advanced setup?
Are you using a Parallel port break out board? If so, how have you configured it? Stepconf doesn't give options for X1 and X2, just X. So do I use 2 x X pins? Or do I need to edit a INI or HAL file for advanced setup?
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