W axis with gantry kins hal/ini configuration

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08 Dec 2015 21:44 #66643 by guymalpass
Thanks for that, I'll have a go with JA9 tomorrow and report back. I think a working gentrivkins is preferable to gantrykins, ignoring soft limits scares the hell out of me!

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08 Dec 2015 22:24 #66646 by guymalpass
Could you also please tell me what KINSTYPE=BOTH does? I can't seem to find anything out about it.

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08 Dec 2015 22:34 #66647 by andypugh

Could you also please tell me what KINSTYPE=BOTH does? I can't seem to find anything out about it.


There is a hint here:
github.com/jepler/linuxcnc-mirror/blob/m...otion/kinematics.txt

Though not its use as a module parameter.

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08 Dec 2015 23:12 #66648 by dgarrett
The code is basically identical for gantrykins and gentrivkins.
I don't know the reason for both or the naming history.

git.linuxcnc.org/gitweb?p=linuxcnc.git;a...s/heads/joints_axes9

git.linuxcnc.org/gitweb?p=linuxcnc.git;a...s/heads/joints_axes9

man page:
buildbot.linuxcnc.org/doc/scratch/v2.8.0...man/man9/kins.9.html


In joints_axes9, gentrivkins has a (new) module parameter
kinstype for testing. It makes it possible to test a simple
kinematics module as if it were a more complex
(non-identiry) kinematics type.

I used it in the example to illustrate switching between
joint and teleop mode so that you can see the pos-cmds for
both modes in the included halshow gui.

Some guis (axis for example) suppress joint/world switching
for identity kins. In the g.tgz example, remove the text
'kinstype=BOTH' to see the gui behavior for kinematics that
are strictly identity.

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09 Dec 2015 00:46 #66651 by andypugh

The code is basically identical for gantrykins and gentrivkins.
I don't know the reason for both or the naming history.


Gentrivkins is intended as a kinematics that allows free mapping of joints to axes but declares kinematics_identity and so does not expose the complications of joint/world mode.

I _think_ it still allows homing in joint mode.

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09 Dec 2015 13:57 - 09 Dec 2015 14:00 #66683 by guymalpass
I've built JA9, configured with gentrivkins and everything is working perfectly! Gantry auto-squaring, obeyed soft limits and automatic teleop are exactly what I was after, thanks Todd, Dewey and Andy for your help with this. I expect the problem remains with gantrykins and non JA builds but I much prefer this setup.
Last edit: 09 Dec 2015 14:00 by guymalpass.

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10 Dec 2015 18:41 #66747 by mozmck
Would you mind sharing your config? I need to set up a gantry with auto-squaring myself.

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11 Dec 2015 16:09 #66829 by blacksmith

Would you mind sharing your config? I need to set up a gantry with auto-squaring myself.


Does the author of the Joints branch have any sample configs?

LCNC is like the punishment of Tantalus. ;)

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11 Dec 2015 16:14 - 11 Dec 2015 16:14 #66830 by andypugh

Does the author of the Joints branch have any sample configs?


If you install the branch, then most of the configs work I believe.

Details: sourceforge.net/p/emc/mailman/message/34685502/
Last edit: 11 Dec 2015 16:14 by andypugh.

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11 Dec 2015 16:16 #66831 by guymalpass
I can post my config files later tonight for you

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