On 26 May 2010 16:42, Alan Battersby <[email protected]> wrote: > > I tried setting up XYZA and then manually editing > Coordinates in the ini file changing A to C but emc crashed on startup.
EMC rarely "crashes", but it does exit with an error message quite often, if there is something wrong with the config file. Generally it tells you what was wrong, too. (especially if you start it from the command prompt rather than the menu, so that it has a terminal to put stuff in). You probably only needed to change 1 or perhaps 2 lines in the INI file. In the [TRAJ] section simply change COORDINATES = X Y Z A to X Y Z C To display the rotary axis you need to add GEOMETRY = C X Y Z to the [DISPLAY] section. The C-axis is joint 5 in trivkins (Trivial Kinematics) so you also need to make a few changes in the HAL file. You _could_ change all the [AXIS_3] stuff in the INI, create extra stegens in the HAL and rename the signals for neatness, but it is simpler just to change all the axis.3..... pin names to axis.5.... For example: net apos-cmd axis.5.motor-pos-cmd => stepgen.3.position-cmd net apos-fb stepgen.3.position-fb => axis.5.motor-pos-fb (Actually, I would change the signal names to cpos.... to save confusion, but the stepgen is stepgen number 3, even if it moves axis number 5.) -- atp ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
