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Thank you for the detailed walkthrough. I understand now how to set things up. Though it will take sometime.

But before that, when I run lsusb in terminal, it shows me "command not found". I have to run that through less /proc/bus/input/devices .. to see the unique name for my keyboard. After I add the loadusr command to my ini file in the HAL section, the keyboard button still doesn't show up in my HALshow (I am currently trying all of this on axisgui). It only shows up my gamepad. I tried to input the command directly into the HAL file, but it still doesnt show up. Am I doing anything wrong? As I feel 'lsusb' should have shown something in the terminal

I know this thread is old, but it shows up at the top in Google search when you're looking for "LinuxCNC skew". I'd like to say that the millkins.c works for me in LinuxCNC 2.8.4.

Steps:

1. Download the millkins.c file here: wiki.linuxcnc.org/cgi-bin/wiki.pl?Contri...y_XY_skew_correction
2. In LinuxCNC open up the terminal to compile/install the file. Replace code block below to where actual millkins.c file is located.

   sudo halcompile --install /path/to/millkins.c

3. The command above compiles and creates a millkins.so file located at /usr/lib/linuxcnc/modules
4. You can go ahead and close the terminal and now open up your hal file. Find the line (should be at the top) "loadrt [KINS]KINEMATICS" and replace with millkins info. Replace #.### in example below with your actual skew factor.

   # Comment out the kinematics in case you want to roll back and add the two lines after installing millkins.so
   #loadrt [KINS]KINEMATICS
   loadrt millkins
   setp millkins.skew #.###

5. That's it, but here is the big gotcha: This skew factor will not work when you are jogging! If you actually do a gcode command you should see it work.

Hope this helps for anyone searching this! This has been working great for me as I have a 4'x8' gantry and it is quite difficult to get this perfectly mechanically square. I have been squaring by offsetting the home position of my dual steppers on a single axis, but this is a nice alternative.

Yes, they are connected

No need, it should work as is.
Do you have enable wired to your drives?

I use Raspery on Pi5, there are no problems, it starts automatically without a password when the first power comes on. While the CNC is running and processing materials, a password login screen appears occasionally, but the CNC does not stop and continues to work. What causes this encrypted login screen to appear?

You could try using the 'hal_input' component and see what keys your keyboard offers. These can then be connected in hal to the .increse/.decrease pins of gmoccapy.
linuxcnc.org/docs/html/gui/gmoccapy.html#_hal_pins

example:

1. open a terminal and type:
2. find your keyboard in the output
example: 'Bus 003 Device 002: ID 17ef:608c Lenovo Lenovo Calliope USB Keyboard'

3. Add this to the [HAL] section of your ini file using one of the words from the keyboard identification from above to identify the device (for our example we use 'Keyboard')

4. Start your config, enter the settings page and click on the 'Halshow' button in the lower right corner

5. Navigate to pins/input/0/ and check if any function keys have been recognized:

 

6. In our example there are some function keys we can use (eg 'input.0.key-volumeup', 'input.0.key-volumedown')

7. Connect these pins to the relevant gmoccapy halpins in the POSTGUI_HALFILE (eg to control the linear jog velocity):

possible pins can also be found in pins/gmoccpy.
 

linuxcnc.org/docs/html/man/man1/hal_input.1.html

tommylight wrote:

Connect to input on BOB, then in hal connect that input to joint.N.amp-fault.
Or in your case if you have them with e-stop, in hal connect to estop-ext.

Apart from the cable connection, do I have to modify anything in my HAL file so that the alarm works with the emergency stop?

The problem I have is that I don't know how to connect the cables from the driver to the bob. I also don't know if alarm+ needs voltage.....

Somewhere here I read something about the pins for encoders, but I can't find it again. I think there was talk of only one possible encoder. Either for the spindle signal, or MPG, which would be a shame if you have to decide on one. I saw the pinmapping in this post.

forum.linuxcnc.org/18-computer/44828-rem...rd?start=1750#303975
 

Yes, axis supports 1-0 for feed overrides. Sadly it doesn't work on gmoccapy. I can see in some videos over youtube that there used to be sliders at sometime. As a beginner in CNC the sliders and shortcuts are very very useful for me

I'm glad that was an easy fix.

In Axis, number keys from ` to 0 (yes the first is the tidle key under ESC and to the left of 1) are feed overrides so you can press them at any time to set the feed speed, meaning the ` is 0 feed rate so the machine will not move, 1 is 10%, 2 is 20% and so on.
No idea if that works for GmoccaPy.

I am using Axis for my lathe currently. I was recently looking at the gmoccapy GUI in sim mode, everything is much better here. But one thing is keeping me off from using it is the sliders for the Rapid/feed/spindle/jog override. In axis, one can just move the sliders from 0 to 100 in half a second, but you have to press the '+' or '-" to adjust them. Are there any shortcuts for this or any way to get adjustable sliders in gmoccapy like axisui? Thanks in advance.

One way to check the index/encoder  is to:

1. Disable the drive so the spindle can be turned by hand

2. Verify that the spindle position from the encoder increases by 1.00 for each forward turn.

3. With halcmd (in a terminal) set the index enable:

halcmd sets spindle-index-enable true

now, when you rotate the spindle. at the index position:

the spindle position should be reset to 0

spindle-index-enable should go false

You can watch the spindle position (spindle.0.revs) and spindle-index-enable
with halshows watch tab






 

position feedback must be unconnected in spindle mode