Hi Patrick, I recently added a rotary axis to my little mill and didn't have any problems - maybe I didn't think about it enough... ;-) Anyway, if its of any use to you, here is the relevant bits of my ini file....
[TRAJ] #+ machine specific settings STEPGEN_MAXACCEL = 396.0 AXES = 4 # COORDINATES = X Y Z R P W COORDINATES = X Y Z A HOME = 120 0 90 0 LINEAR_UNITS = metric ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1.2 DEFAULT_ANGULAR_VELOCITY = 20 MAX_VELOCITY = 1.4 MAX_ANGULAR_VELOCITY = 20.5 DEFAULT_ACCELERATION = 3 MAX_ACCELERATION = 4 ############################################################################### # Axes sections ############################################################################### ; ; ; #+ Fourth axis [AXIS_3] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 20.0 MAX_ACCELERATION = 10.0 STEPGEN_MAXVEL = 20.5 STEPGEN_MAXACCEL = 39.0 BACKLASH = 0.000 INPUT_SCALE = 100 OUTPUT_SCALE = 1.000 MIN_LIMIT = -36000.0 MAX_LIMIT = 36000.0 FERROR = 5.0 MIN_FERROR = 1.0 HOME_IS_SHARED 1 HOME_SEQUENCE 3 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 7 HOME_LATCH_VEL = -2 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO and the pins bit of hal.... # finally connect physical pins to the signals linksp Xstep parport.0.pin-03-out linksp Xdir parport.0.pin-02-out linksp Ystep parport.0.pin-05-out linksp Ydir parport.0.pin-04-out linksp Zstep parport.0.pin-07-out linksp Zdir parport.0.pin-06-out linksp Astep parport.0.pin-14-out linksp Adir parport.0.pin-16-out I haven't set up my limit switches yet on any of the axes as, for what I do, they seem to often get in the way and give me 'limits exceeded' errors. My machine is home built and the rotary axis uses a 90:1 worm and wheel driven by a 200 step stepper in half step mode. HTH -- Best wishes, Ian ____________ Ian W. Wright Sheffield UK "The difference between theory and practice is much smaller in theory than in practice..." ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
