Thank you, such efforts too support is very much appreciated!!
Your right, it is - as in other cases - the config file format that makes the issue.
1) Fresh install of lncnc 2.9 from buildbot.linuxcnc,org
2) sudo halcompile --install rot4thaxiskin.c
3) Open a running config file and let it convert automatically to new format
4) Add the modification from the wiki manually
- First Only add the
Code:
loadrt rot4thaxiskins
setp rot4thaxiskins.H1 41
--> no error. kinematics is loading.
5) adapt the .ini: Most evidently, format changes of
Code:
[TRAJ] should be empty
[KINS] JOINTS = 9 XZY+ABC+UVW
Attention: the wiki defines 8x [AXIS] but now we need 9x [JOINTS]
6) connect
Code:
net upos-fb joint.6.motor-pos-cmd => joint.6.motor-pos-fb
net vpos-fb joint.7.motor-pos-cmd => joint.7.motor-pos-fb
net wpos-fb joint.8.motor-pos-cmd => joint.8.motor-pos-fb
This configs are still quite outside of my circle of competence.
- 9 joints enough for 4 axes with travel limits
- What do we need for the tool offsets UVW, only [JOINTS] it seems?