Double Miter Saw Machine XAB Configuration

Those are 'joint.' pins and are available for extrajoints. Have a look in the 'Halshow' window that pops up when you run one of the extrajoints sim config:

 

ok, indicative image.

1-So it would be possible to declare an XAB configuration using A and B as extrajoins where these last two joints would still be managed in part by the motion controller?

2-Would it be possible to declare only the joints that I intend to use XAB or would I have to declare the intermediate joints, for example XYZAB?

1- Not sure what you mean by 'managed in part by the motion controller'. Extrajoints home in the same way as regular axes do, the softlimits are handled by the limit3 component. Extrajoints do not have an axis letter (eg 'X','A', 'B') associated and are not accessable by gcode.

2- you can only declare the joints you need (eg X). If you want two extrajoints you do not declare 'AB' as that is used for regular axes.

As far as I can see there needs to be at least one regular axis defined (eg X) but I think there is also a way to use only HAL without the motion controller but I don't know how that works.

Once again, I thank you for your response Aciera, you have got the focus of your two responses right, although I am still not clear about the best way to configure everything.

As for my first question and your first answer, that is exactly my question, how to return home the extra joints, in this case they would be home designs with a min limit switch shared with a home switch and it also has a maximum limit switch for the three axes. X A B, all these signals are defined in the motion controller, so this is what I mean when I say that the extra joints would be controlled in part by the motion controller, if it works that way of course.

I have been reading several threads on the forum and it is mentioned that all this can be done using only hal as you mention before, but I can't find any example, especially Andypugh seems to be quite familiar with how to do it, although I have no other way to contact him that is not in the forum.

Attached I leave some photos of the user interface, the idea would be to simply establish a measurement in X of the angles on the right and left heads, press play and the machine positions itself.

I also leave a url about a video of a machine in operation,



Greetings to everyone, if you have any idea how to do this, thank you in advance.

I don't think you really need to worry much about the motion control running in the background. As you will need to create you own GUI anyway the user will not have access to it. All you need is to create a single axis to get your configuration to start and then you can run everything using extrajoints and the hal layer from your custom gui.

Hello everyone, it's been a while since I've been here, I've tried several things since the last time and of course problems have arisen, thanks Aciera again.

I've tried using extrajoint and it works, after performing the home process limit3 is activated and then you just have to change the position value on the pin hal limit3.in, here only one complaint I haven't managed to get the joint to go to the HOME position = PosHome configured in the *.ini file, it always stays at the minimum position MIN_LIMIT.

I've also developed a real-time component that controls the cutting behavior, right now I use the MOTION motion controller not extrajoint which is what I want in the future, to know when the machine is in position I've used the motion.in-position signal, I've found that the joint.in-position signal doesn't switch for extrajoints, so I need to know when a movement has been executed.
For the latter I have thought about comparing the position that I establish in limit3.in with the joint.pos-fb position, here I have another question, how would it be possible to feedback the count of the driver encoder, for example the Ethercat drivers from Lichuan.