Gmoccapy gantrykins

Would like to work with gmoccapy on a gantry machine, with gantrykins, I can control 2 joints for one axe,
At this moment i need display "axis" to home the joints in joint mode, then switch to world mode .
Is this also possible with gmoccapy?

I have never had a gantry machine, so actually gmoccapy does not support joints mode.
It will not be to complicated to integrate that, but I need someone with a real machine and willing to advice me on the
"how to do" side.

Norbert

Hi Norbert

Thanks for your quick replay

We are very enthousiastic about the gmoccapy gui, and till now we have used it on almost all our retrofit machines.
Actually, i'm more familiar with gmoccapy as with Axis at this momnent.
We now have started build als new machines from scratch.
At this momnent we are building a resonable big machine made out of steel bars and plate
Size 4800 x 2050 with a moving bridge of about 300 kgr.with two 1,5 kWatt motors
We would like to use gmoccapy as the gui, only challange we had to switch to the gantrykins, as the solutions we have used till now ( master slave ) was causing stress on the bridge , as there was no feedback from the slave to the master.
With gantrykins, the machine starts in joint mode, and after homing all joints the machine has to be switched to world mode.
I found that with the gantrykins installed, i still can move the motors with gmoccapy, only i don't have dro reading of position,
Also i don't know how to switch from joint mode to world.
I'm using linuxcnc 2.74 , and mesa 5i25 with 7i77 .

Where is your config?
Is it a XYYZ or XYZY config?
First one is problematic!

Try to build a sim config, so i can test with that one.

Norbert

my config is XYZY
I think for homing in joint mode sequence would be : Z , X, Y1andY2 (y1 and y2 simultaniously)

Marius

Have attached my hall and ini file ,
I expect homing won't be an issue , as long as it is possible to switch from joint to world ,
homing in axes is done with home switches on all 4 axe.

sorry, didn't attach the ini

I have tested a little bit, but I am not sure how to change the modes from python side.
So this will need some more time.

I will keep informed.

Norbert

Can you explain what exactly happens when changing from world mode to joint mode, as also the DRO's will not show encoder positions

In world mode you are moving in a cartesioan coordinate system, in joint mode each joint is moved individually.

I have not looked further on a solution, because there are too many thinks to do in my private live at the moment..

Norbert