Homing procedure for axis with multiple slaves

Ok, fixed all the side issues.

I've modified the ini file as follows:
[KINS] joints=4, kinematics = zzzz
[AXIS_Z]
[JOINT_0]
[JOINT_1]
[JOINT_2]
[JOINT_3]

and assigned the same homing procedure to all the joints.

Now, for the HAL file:
- each axis section starts with a list of setp (pid P, I, D, bias, FF0, ...): I'm looking at a sample configuration done with the pncconf wizard, where the only slave axis has pid.z2.PGain, .... -> how should it look like in my case?

Posting your hal and ini files would help

Think I solved it:
-> the naming should match with the function call "loadrt pid names=..." at the beginning of the file.

Now fighting with the HALUI signals ("halui pin ... does not exist")
I'll keep you updated

HAL


INI

piter wrote: Think I solved it:
-> the naming should match with the function call "loadrt pid names=..." at the beginning of the file.

Now fighting with the HALUI signals ("halui pin ... does not exist")
I'll keep you updated

Yes you will have to duplicate the Z in the section of the hal file stuff and changing where necessary Z 0,1,2,3 etc

piter wrote: Now fighting with the HALUI signals ("halui pin ... does not exist")
I'll keep you updated

Easiest way to resolve this is to comment out the bad pin so Linuxcnc will load and then you can review in halshow to find the correct pin name.