How to. 2 or more motors on one axis. Gantry

rodw wrote: You should not have any problems. I use seperate min limit , max limit and homing switches on my gantry. There is an example config here.
forum.linuxcnc.org/47-hal-examples/34072...ranch-gantry-example
but the spindle at speed pin has changed names since it was done.

bevins wrote: rodw: That config works?
I don't see how. It looks really weird to me the way the joints are setup.

Warning: Spoiler!

Code:

# Generated by PNCconf at Sat Feb 24 07:57:58 2018 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = my_LinuxCNC_machine-rod DEBUG = 0 VERSION = 1.0 [DISPLAY] DISPLAY = axis #DISPLAY = gmoccapy POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/plasma/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 120 MAX_LINEAR_VELOCITY = 350 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = gedit GEOMETRY = xyz [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_eth # BOARD0=7i76e [HAL] HALUI = halui HALFILE = my_LinuxCNC_machine-rod.hal #HALFILE = custom.hal #POSTGUI_HALFILE = postgui_call_list.hal #SHUTDOWN = shutdown.hal [HALUI] [KINS] JOINTS = 4 KINEMATICS = trivkins coordinates=YYXZ [TRAJ] COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_LINEAR_VELOCITY = 300 MAX_LINEAR_VELOCITY = 300 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #******************** # Joint 0 - Y [JOINT_0] #******************** TYPE = LINEAR HOME = 0.0 FERROR = 20.0 MIN_FERROR = 1.0 MAX_VELOCITY = 300 MAX_ACCELERATION = 1500 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 700 STEPGEN_MAXACCEL = 2000 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 500 DIRHOLD = 500 STEPLEN = 1500 STEPSPACE = 1500 STEP_SCALE = 261.130715645 MIN_LIMIT = -0.01 MAX_LIMIT = 1260.1 HOME_OFFSET = 43 HOME_SEARCH_VEL = -100 HOME_LATCH_VEL = 10 HOME_FINAL_VEL = 50 HOME_USE_INDEX = NO HOME_SEQUENCE = -1 # Joint 1 - Y1 [JOINT_1] #******************** TYPE = LINEAR HOME = 0.0 FERROR = 20.0 MIN_FERROR = 1.0 MAX_VELOCITY = 300 MAX_ACCELERATION = 1500 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 700 STEPGEN_MAXACCEL = 2000 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 500 DIRHOLD = 500 STEPLEN = 1500 STEPSPACE = 1500 STEP_SCALE = 261.130715645 MIN_LIMIT = -0.01 MAX_LIMIT = 1260.1 HOME_OFFSET = 45 HOME_SEARCH_VEL = -100 HOME_LATCH_VEL = 10 HOME_FINAL_VEL = 50 HOME_USE_INDEX = NO HOME_SEQUENCE = -1 # Axis Y #******************** [AXIS_Y] MAX_VELOCITY = 360 MAX_ACCELERATION = 1500 MIN_LIMIT = -0.01 MAX_LIMIT = 1260.1 #******************** # Joint 2 [JOINT_2] #******************** TYPE = LINEAR HOME = 0.0 FERROR = 20.0 MIN_FERROR = 1.0 MAX_VELOCITY = 360 MAX_ACCELERATION = 1500 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 700 STEPGEN_MAXACCEL = 2000 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 500 DIRHOLD = 500 STEPLEN = 2500 STEPSPACE = 2500 STEP_SCALE = -159.154925543 MIN_LIMIT = -0.01 MAX_LIMIT = 1221.1 HOME_OFFSET = 45.0 HOME_SEARCH_VEL = -100 HOME_LATCH_VEL = 25 HOME_FINAL_VEL = 100 HOME_USE_INDEX = NO HOME_SEQUENCE = 1 # Axis X #******************** [AXIS_X] MAX_VELOCITY = 360 MAX_ACCELERATION = 1500 MIN_LIMIT = -0.01 MAX_LIMIT = 1221.1 #******************** # Joint 3 [JOINT_3] #******************** TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 220 MAX_ACCELERATION = 4000 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 450 STEPGEN_MAXACCEL = 5000 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 500 DIRHOLD = 500 STEPLEN = 1000 STEPSPACE = 1000 STEP_SCALE = 1000 MIN_LIMIT = -84 MAX_LIMIT = 0.001 HOME_OFFSET = 0.5 HOME_SEARCH_VEL = 10 HOME_LATCH_VEL = 5 HOME_FINAL_VEL = 10 HOME_USE_INDEX = NO HOME_SEQUENCE = 0 HOME_IS_SHARED = 1 # Axis Z #******************** [AXIS_Z] #OFFSET_AV_RATIO = 0.5 # The next 2 settings are double the real speed. Slowing down these settings reduces overshoot. # As external offsets are never used with z axis moves on plasma,this give max speeds and acceleration becasue OFFSET_AV_RATIO will halve them # maximum achieveable velocity is 110 mm/sec # maximum achievable acelleration is say 1500 mm/sec/sec MAX_VELOCITY = 110 MAX_ACCELERATION = 700 MIN_LIMIT = -84 MAX_LIMIT = 0.001 #******************** # Spindle #******************** [SPINDLE_9] P = 0.0 I = 0.0 D = 0.0 FF0 = 1.0 FF1 = 0.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 2000.0