I've set up a few 4 axis machines using W axis. There are some things you have to change in your ini file. In your TRAJ section of your ini. Change the number of axis to 9, and then add blank [AXIS_N] place holders for the unused axis 3-7 and change the W to [AXIS_8]. Then you'll also need to change all the appropriate references in the hal file to reflect these changes. see below.
[TRAJ] AXES = 9 # COORDINATES = X Y Z R P W COORDINATES = X Y Z W HOME = 0 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1.6 MAX_VELOCITY = 5.0 DEFAULT_ACCELERATION = 15.0 MAX_ACCELERATION = 20.0 PROBE_INDEX = 0 PROBE_POLARITY = 1 # Axes sections --------------------------------------------------------------- # First axis X #3653.934521324 [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 3.33333 MAX_ACCELERATION = 30.0 PID_MAX_VEL = 4.0 BACKLASH = 0.000 #INPUT_SCALE = 3552.5328 #OUTPUT_SCALE = 3552.5328 #67094.656415937 INPUT_SCALE = -16773.66 OUTPUT_SCALE = -16773.66 MIN_LIMIT = -2.0 MAX_LIMIT = 48.0 FERROR = 1.5 MIN_FERROR = 0.05 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000089 P = 10 I = 0 D = 0.1 BIAS = 0 FF0 = 0 FF1 = 1.2 FF2 = 0.002 # Second axis Y [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 3.3333 MAX_ACCELERATION = 16.0 PID_MAX_VEL = 4.0 BACKLASH = 0.000 #INPUT_SCALE = -8842.815 #OUTPUT_SCALE = -8842.81 INPUT_SCALE = -7942.321 OUTPUT_SCALE = -7942.321 MIN_LIMIT = -2.0 MAX_LIMIT = 96.0 FERROR = 1.0 MIN_FERROR = 0.05 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000188869 P = 10 I = 0 D = 0.1 BIAS = 0 FF0 = 0 FF1 = 1.2 FF2 = 0.002 # Third axis Z [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 2.1 MAX_ACCELERATION = 24.0 PID_MAX_VEL = 2.2 BACKLASH = 0.000 #INPUT_SCALE = 39720.16 #OUTPUT_SCALE = -39720.16 INPUT_SCALE = 10150.09 OUTPUT_SCALE = -10150.09 MIN_LIMIT = -7.0 MAX_LIMIT = 7.0 FERROR = 1.0 MIN_FERROR = 0.01 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000077 P = 250 I = 0 D = 0.1 BIAS = 0 FF0 = 0 FF1 = 1 FF2 = 0.002 #add blank place holders for unused axis [AXIS_3] [AXIS_4] [AXIS_5] [AXIS_6] [AXIS_7] # Third axis W [AXIS_8] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 2.1 MAX_ACCELERATION = 24.0 PID_MAX_VEL = 2.2 BACKLASH = 0.000 INPUT_SCALE = 10150.09 OUTPUT_SCALE = -10150.09 MIN_LIMIT = -7.0 MAX_LIMIT = 7.0 FERROR = 1.0 MIN_FERROR = 0.01 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000077 P = 250 I = 0 D = 0.1 BIAS = 0 FF0 = 0 FF1 = 1 FF2 = 0.002 ----- Original Message ----- From: "Jeshua Lacock" <[email protected]> To: "Enhanced Machine Controller (EMC)" <[email protected]> Sent: Tuesday, September 8, 2015 8:30:06 PM Subject: [Emc-users] Universal Stepper Driver 4th Axis Config Greetings, I am trying to add a 4th axis to my USC from Pico Systems. My set of config files is at: <http://3DTOPO.com/pico-univstep.tar.gz> I defined the new axis as W and set it up the way the other axes are setup as far as I can tell. I didn’t set up the limit switches because I wasn’t sure what pins to use. Anyhow, I can’t get Axis to launch with the W enabled. I get the error: Can not find -sec APPLICATIONS -var DELAY -num 1 HAL: ERROR: duplicate component name 'inihal' ini_hal_init: ERROR: hal_init() failed HAL: ERROR: duplicate component name 'inihal' ini_hal_init: ERROR: hal_init() failed HAL: ERROR: duplicate component name 'inihal' ini_hal_init: ERROR: hal_init() failed HAL: ERROR: duplicate component name 'inihal' ini_hal_init: ERROR: hal_init() failed HAL: ERROR: duplicate component name 'inihal' ini_hal_init: ERROR: hal_init() failed A configuration error is preventing LinuxCNC from starting. More information may be available when running from a terminal. I grepped around for ‘inihal’ but find no such term in my configs. Full error log is here: <http://3DTOPO.com/wAxisErr.txt.gz> BTW: I assume the 5V pin on the stepper drive goes to the 5V on the USC, but where does the enable go (been a while!)? Thanks, Jeshua Lacock Founder/Engineer 3DTOPO Incorporated <http://3DTOPO.com> Phone: 208.462.4171 ------------------------------------------------------------------------------ Monitor Your Dynamic Infrastructure at Any Scale With Datadog! Get real-time metrics from all of your servers, apps and tools in one place. SourceForge users - Click here to start your Free Trial of Datadog now! http://pubads.g.doubleclick.net/gampad/clk?id=241902991&iu=/4140 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users ------------------------------------------------------------------------------ Monitor Your Dynamic Infrastructure at Any Scale With Datadog! Get real-time metrics from all of your servers, apps and tools in one place. SourceForge users - Click here to start your Free Trial of Datadog now! http://pubads.g.doubleclick.net/gampad/clk?id=241902991&iu=/4140 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
