Wrapped Rotary on Non Rotary Axis Letter.

I've got my machine setup to use a rotary table as the W axis since I already have a C axis on the head.  I've added wrapped_rotary=1 to my ini in both the joint and axis sections, but it's not working.  Does wrapped rotary only work on A,B, or C axis?

I also have the rotary table setup as a second axis and what I would like to ultimately do is setup the rotary table to wrap the axis position at 360 and also keep track of the position while using it as a spindle.  Right now I just use a generic mux2 to switch the joint velocity between W axis velocity and spindle 1 velocity signals using the spindle.1.on and it works great, but I'm not sure how to keep the axis position when it's in spindle mode.  I'm using step/dir servos to drive the table, so I don't have an encoder on the table output itself.  Is there a way to fake an encoder signal from the spindle output to feedback into the joint position?  

Does the letter matter?

Isn't it just a visual ID?

langdons wrote:

Does the letter matter?

Isn't it just a visual ID?

Not sure.  Either way it's not working for me and I'm not sure why.  It works no problem as a rotary axis, but I'd like to figure out a way to keep position while using it as a spindle and I figure that will be easier if it wraps at 360.  

Aciera wrote:

Looking for 'WRAPPED_ROTARY' in the source code seems to suggest that it indeed only applies to axes A,B,C:

~/git/linuxcnc-dev$ grep -rnw ./ -e WRAPPED_ROTARY
./configs/sim/axis/wrapped_rotary/wrapped_rotary.ini:85:WRAPPED_ROTARY = 1
./bin/axis:3516:a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
./bin/axis:3517:b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
./bin/axis:3518:c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
./src/emc/rs274ngc/rs274ngc_pre.cc:872: inifile.Find(&_setup.a_axis_wrapped, "WRAPPED_ROTARY", "AXIS_A");
./src/emc/rs274ngc/rs274ngc_pre.cc:873: inifile.Find(&_setup.b_axis_wrapped, "WRAPPED_ROTARY", "AXIS_B");
./src/emc/rs274ngc/rs274ngc_pre.cc:874: inifile.Find(&_setup.c_axis_wrapped, "WRAPPED_ROTARY", "AXIS_C");
./src/emc/usr_intf/axis/scripts/axis.py:3514:a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
./src/emc/usr_intf/axis/scripts/axis.py:3515:b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
./src/emc/usr_intf/axis/scripts/axis.py:3516:c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/qt5_graphics.py:274: self.a_axis_wrapped = self.inifile.find("AXIS_A", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/qt5_graphics.py:275: self.b_axis_wrapped = self.inifile.find("AXIS_B", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/qt5_graphics.py:276: self.c_axis_wrapped = self.inifile.find("AXIS_C", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/gremlin.py:204: self.a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/gremlin.py:205: self.b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
./src/emc/usr_intf/gremlin/gremlin.py:206: self.c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
grep: ./src/objects/emc/rs274ngc/rs274ngc_pre.o: binary file matches
./docs/src/config/ini-config.adoc:902:* `WRAPPED_ROTARY = 1` - When this is set to 1 for an ANGULAR axis the axis will move 0-359.999 degrees.
grep: ./lib/librs274.so.0: binary file matches
./lib/python/qt5_graphics.py:274: self.a_axis_wrapped = self.inifile.find("AXIS_A", "WRAPPED_ROTARY")
./lib/python/qt5_graphics.py:275: self.b_axis_wrapped = self.inifile.find("AXIS_B", "WRAPPED_ROTARY")
./lib/python/qt5_graphics.py:276: self.c_axis_wrapped = self.inifile.find("AXIS_C", "WRAPPED_ROTARY")
./lib/python/gremlin.py:204: self.a_axis_wrapped = inifile.find("AXIS_A", "WRAPPED_ROTARY")
./lib/python/gremlin.py:205: self.b_axis_wrapped = inifile.find("AXIS_B", "WRAPPED_ROTARY")
./lib/python/gremlin.py:206: self.c_axis_wrapped = inifile.find("AXIS_C", "WRAPPED_ROTARY")
 

Thanks so much for checking.  I'll try to figure out a different solution.

What axes does your setup have?

Perhaps having unlimited "WRAPPED_ROTARY" axes on any axis letter is a feature should be added to the source code.

langdons wrote:

What axes does your setup have?

Perhaps having unlimited "WRAPPED_ROTARY" axes on any axis letter is a feature should be added to the source code.

I'm using XYZACW.  It's a router with an CA style head.  The W axis is an additional "C" axis rotary table, but I didn't want to use B because the kinematics file I'm using for TCP has a B axis and I don't know how to mess with the kinematic enough to make it ignore the B axis commands.  

Hmm...

There must be a solution so your setup can be XYZABC.

How does the PC communicate with the machine?

langdons wrote:

Hmm...

There must be a solution so your setup can be XYZABC.

How does the PC communicate with the machine?

I use a Mesa 7i76eu with ethernet.  I'm guessing with a little trial and error I could modify the kinematics file to just set the B axis value to a constant 0 to avoid it being in the calculations for TCP and then passthrough the actual value to my joint.  The actual matrix math stuff is well beyond my level, so I'd rather leave that alone.  Not totally sure I'd want to label it B axis instead of W anyway, since B wraps around Y in my head.

I'm going to work a bit on trying to get the axis to retain position values when it's in spindle mode, I'm using a step/dir servo, so I need to figure out a way to keep track of position somehow.

I am impoving a Java macro program called Repeat that uses matrices to identify mouse gestures; it works, but I have absolutely no idea how or why it works.