Hi, First of all, thanks for your reply andy. I know of the ja-branch, but unfortunately it isnt in master. But I am willing to help. JA also needs documentation, I only found a few wiki-pages.
In the meantime I did some more tinkering and made some progress. In HAL the joints0-3 now map to axis.0 ... axis.3. In the .ini-File I have axes 0-5 defined, with 4&5 only being there so they can be homed. However, it seems like the speed/acc settings for C-Axis in world mode are read from the AXIS_5 section. So I added sane values there. Without the speeds default to '1', which is horribly slow. I will provide a patch for the sample-config which will document this behaviour. For now, two problems remain: 1. Z gets inverted when switched to world-mode. This is due to lines 94 and 162 in scarakins.c. However I dont understand why this is desirable? This odd behaviour can also be reproduced with the SIM-config. Most likely I will change the sign recompile scarakins. Or is there an simpler way? 2. Illegal moves are not detected. This is the work area: http://i.imgur.com/CGLhgwY.png When moving from "X0 Y-450" to "X0 Y450" the machine runs into the hardware limit switches. Is there any way to make the TP (or any other comp) detect those moves prior to the execution? Similar to the softlimits on trivialkins? Kind Regards Carsten Am 08.09.2015 um 11:40 schrieb andy pugh: > On 7 September 2015 at 22:14, Carsten Presser <[email protected]> wrote: >> Now comes the FUN part. When I rotate the C-Axis by hand (servo amps >> disabled) the B-Axis-Value on the DRO changes. > > There is a long-standing confusion in LinuxCNC about the joints and > the axes. There is a branch that is intended to fix this, but it keeps > not quite making it into the mainline. > > The HAL pins use asis.N.motor-postion-cmd and axis.N.motor-position-fb > but this really should be read as joint.N.... > Things are more confused in the INI file, the [AXIS_N] sections > contain a mix of axis and joint data. > > Normally there is a hard-coded mapping that X = 0, Y= 1, Z = 2, A = 3, > B = 4, C = 5, U = 6, V = 7, W = 8 but scarakins seems to change that > around a bit: > http://git.linuxcnc.org/gitweb?p=linuxcnc.git;a=blob;f=src/emc/kinematics/scarakins.c;h=e3b87ee2223de900955a65c8cd3256bda9ab526e;hb=HEAD#l160 > > You need to make sure that your C-axis encoder feedback is connected > to the axis.3.motor-position-fb > > Your C-axis INI parameters, however, probably live in the [AXIS_5] block. > -- Carsten Presser Geschäftsführer ca.rstenpresser.de UG (haftungsbeschränkt) Elektronikentwicklung und Vertrieb Frankfurter Strasse 1 66606 St.Wendel Telefon: 06851-1305585 Mobil: 0179-5594690 Internet: http://ca.rstenpresser.de EMail: [email protected]
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