WoR wrote:
Another thing is that when it starts up it goes into joint mode, i do not want this, and i honestly don't know exactly what it is for. Also the acceleration in the axis gui says deg/min (or sec i forget). Why is it not in/min or sec.
Firstly, gantrykins is a kinematics module that allows you to map any number of "joints" to any number of "axes".
You have a 3-axis machine (X,Y,Z) with 4 joints (0,1,2,3). The kinematics.hal file links joints 0 and 3 to X, 1 to Y and 2 to Z.
Joint mode allows you to move each motor independently. Homing in joint mode should then auto-square your gantry.
There are a few issues in your config files which need sorting out to operate a gantry properly (stepconf is not really aware of non-trivial kinematics machines).
Firstly, you don't have an A axis, so should change the AXES = XYZA to read AXES = XYZ
The [AXIS_N] sections of the ini file are actually miss-named. They really should be called [JOINT_N] but are named as they are for historical reasons (don't change them).
Homing happens in Joint mode, so you need to have the same homing sequence number for joints 0 and 3 (in [AXIS_0] and [AXIs_3] in the ini file to avoid twisting the gantry during homing. Having no homing sequence defined (as you have) should also be fine.
I am afraid I am not sure how a gantry config is meant to work, I rather feel it should automatically switch to "World" (XYZ) mode after homing, but would need to experiment with a config to find out.
In any case, after homing you should be able to press "$" to switch to "world" mode, and I think you should then be able to jog without following errors. The following error is due to the stepgen.0.pos-fb and stepgen.3.pos-fb positions not both matching the X-axis position (if they are different, then clearly they can't both match).
With a basic configuration using the stepconf wizard it works fine. I set the X axis to the A pins and invert the direction so the gantry moves fine. And the Y and Z move fine. But i can't get much to work right with the thc300 config.
It doesn't really matter that your hal files call the X2 axis A, but it might be clearer to change the names to X1 and X2 throughout. (the signal names, which are the first item on a "net" command line, are freely choosable by the user). You have motor.3 linked to stepgen.3 and that is what matters.
I am afraid that this is a rather rambling post, and might not have clearly explained even the things I am trying to explain.
Is quite a nice explanation of the difference between Joint mode and World mode, on a simple system where they are clearly not the same thing. Part of the confusion with Gantrykins is that the joints and axes are so very nearly the same thing that is it not clear what the difference is.