Error at InverseKinematics Function

To step back a level.
In the kinematics file the values are the XYZ etc values from G-code. At the end of G0 X 100 pos->tran.x = 100

The values correlate directly to the HAL pins axis.N.motor-position-cmd.

Your kinematics file needs to bridge the gap between the numbers, in both directions.

The only thing between the motors and the HAL numbers is the encoder scaling. If you want, you can scale for motor positions in radians, for example.

Andy,

Regrettably the kinematic equations of the actuators only have accepted results for some angle values. It means, the equations are only reciprocals for the forward and inverse actuator kinematics in some angles, for that LinuxCNC got error in the simulation.

That equations are only made for one way, like a scale factor for the inverse kinematics outputs.

Can I modify only the HAL motion module for the motor rotation? If I can do it, How do I can? or What do you suggested for this issue?

Thanks a lot.

jstoquica wrote: What do you suggested for this issue?

The kinematics code only needs to get the right answers in plausible positions. You should be able to sort things out so that the initial position gives valid calculations.