Hi, Sorry for the long confusing post in advance. I am having some troubles with scarakins:
For reference, a copy of my current config: https://ca.rstenpresser.de/~cpresser/20150907_linuxcnc-config-hirata-scara.tgz First of all, I dont know which Axes/Joints I need to define in both the .ini and .hal files. The real machine has 4 Joints: http://i.imgur.com/bhsfqXk.jpg - Joint0: Inner Arm - Joint1: Outer Arm - Joint2: Linear Z-Axis - Joint3: Rotary C-Axis (rotates around the Z-Direction) In the example-config-ini-file the following AXIS are used: (/usr/share/doc/linuxcnc/examples/sample-configs/sim/axis/vismach/scara) - [AXIS_0] - [AXIS_1] - [AXIS_2] - [AXIS_5] The corresponding HAL-File however uses net J0pos <= axis.0.motor-pos-cmd net J1pos <= axis.1.motor-pos-cmd net J2pos <= axis.2.motor-pos-cmd net J3pos <= axis.3.motor-pos-cmd This does indeed match the 'scarakins.c' source file. A comment in line 73 says: /* joint[0], joint[1] and joint[3] are in degrees and joint[2] is in length units */ With the example-config the C-Axis is slow as hell. I tinkered around a litte and found that when I use axis.5.xxx for the C-Axis the speeds are okay. It looks like is isn't a good idea to use ini-entry [AXIS_5] with the axis.3.xxx-pins. But now I have axis.3.xx and axis4.xx unused. This makes linuxcnc unhappy, when trying to switch into world-mode it complains that those two axis aren't homed. So I added homing to those two axis, thats where I am now. Now switching into world mode actually works. But with errors, the GL-Preview isnt happy: http://nopaste.linux-dev.org/?755109 (I fixed that by uncommenting those lines) Now comes the FUN part. When I rotate the C-Axis by hand (servo amps disabled) the B-Axis-Value on the DRO changes. Video: https://ca.rstenpresser.de/~cpresser/MVI_2799.MOV Any Hints (besides not using scarakins!?) Kind Regards Carsten
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