Hello! I have been trying to make the gantry kinematics working on my machine. I have made some progress with having 2 joints (motors) on X axis moving together, when executing G-code (actually I have tried just the default EMC2 AXIS logo, I believe that it counts).
I have encountered 3 situations, where I do not understand the reason, why: 1) distance of movement on X axis is approximately 10 times less then on Y axis in situation, when i order to move the same distance on both axis. I simply enter G0 X50Y50 in MDI mode and then measure the actual movement (I have marked the starting point on the paper which is positioned on the table). I just called the technicians, they confirmed that motors and all the other mechanical parts (gearboxes etc) are the same for both - X and Y axis. 2) the machine is in approximate position X=-35, Y=10, i entered command G0 X50Y50, and EMC shows that "linear move in MDIwould exceed joint 0's positive limit, linear move in MDIwould exceed joint 1's positive limit, linear move in MDI would exceed joint 2's positive limit". The same after i home all joints or enter different command, e.g. G0 X200Y50. Positive limit for all joints in INI file is 1000, negative limit is -1000. 3) when I press shift+4 to switch from "joint mode" to "world mode", because I want to jog axis instead of joints, EMC shows "joint 0 following error, joint 1 following error", when i press arrow button to jog X axis, it shows "joint 0 following error, joint 1 following error, joint 2 following error", when i want to jog Y axis The setup was created by stepconf with exact setting for all the axis. I have customized kinematics.hal file where: Joint 0 assigned to X axis Joint 1 assigned to X axis Joint 2 assigned to Y axis Joint 3 assigned to Z axis What is wrong with my settings? Where should i look for an answer? with best regards, Viesturs ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
