Beginner kinemetrics setup for linear delta?

The message

Error: could not insert module /usr/realtime-3.4-9-rtai-686-pae/modules/linuxcnc/lineardeltakins.ko: Unknown symbol in module
./ldelta.hal:4: exit value: 1
./ldelta.hal:4: insmod for lineardeltakins failed, returned -1

is probably because your ini file item
attemps to specify coordinates -- this option is not available for lineardeltakins, it is hardcoded for xyza
so you just specify:

The coordinates= option is avalable on some kinematics modules but not lineardeltakins.

I think you put me a step closer; but, still get an error.

Thank you
Andy

The error:
is likely because your hal file (ldelta.hal) has the lines
but you have no [MACHINE] section in your ini file.

Typically, one would include an ini file section like: with appropriate values.

Alternatively, you could put the values directly in the hal file:

I think again one step closer, but still errors.

To start, I set DELTA_R = 158.55
and CF_ROD = 326.37
This was from an example I found with the beagle bone
This produced Error4.txt
Then I divided them by 25.4 in case they needed to be in inches
6.242
12.849
This Produced Error5.txt
Do these need to bin in inches or mm?

i really do appreciate the help! If you have any more thoughts they would be greatly appreciated.
Andy

The error: indicates that you specified a [HAL]HALFILE=custom.hal
but did not provide a file in your config directory named custom.hal.
Either delete the ini item requesting custom.hal or provide an
appropriate hal file with that name.

Do these need to bin in inches or mm?

I'm not 100% sure but generally, units are defined in the
ini file with the item: which can be inch or mm but is inch in your ini file.

You sir are smart man!

Thank you for the help, we will see how I do next

In the simulator version, if I move the axis's before homing, it will move just the one axis. After I home all is when it starts moving with more then one axis. In the version that is hooked up to the actual motors, it will only move one axis at a time. The only difference is that I do not have my limits functioning yet and I just hit home axis for each axis. Is this what is causing the problem or is there another operation or something that triggers the kinematics to start?

BTW it does appear to be using inches which is set in my ini

Thanks for the helps folks

In recent joints_axesNN branches, the simulator examples
(configs/sim/axis/ldelta.ini and configs/sim/axis/ldelta_demo.ini) use the
setting:
to initiate an automatic switch from joint mode to teleop mode after homing.
The 20 value is the max number of seconds to wait for homing completion. You
omitted this in your ini file i think.

In the axis gui, the radio buttons on the 'Manual Control' tab show as 0,1,2,... for joint mode and
as X,Y,Z,A,... for teleop mode.

In the axis gui, you can switch between joint and teleop modes with the
'$' key.

'Joints' and 'axes' are very different things for a machine with non-identity kinematics (like a delta robot):

buildbot.linuxcnc.org/doc/scratch/v2.8.0...tion/kinematics.html

Thank you! The "$" was the magic item I needed.

all three moved on Z move which is a good thing, now I just need to read up on the following error which I am pretty sure is out there.

Getting Closer!
Andy