On Mon, Sep 14, 2020 at 3:52 PM andy pugh <[email protected]> wrote: > > On Mon, 14 Sep 2020 at 20:19, Dave Matthews <[email protected]> wrote: > > > Almost there. There isn't a gantry.hal file on github that I can find > > to reference. > > https://github.com/LinuxCNC/linuxcnc/blob/master/lib/hallib/gantrysim.hal > Maybe? > > > When I start LinuxCNC I > > get an exit because ypos-cmd, ypos-fb, ystep and yenable have already > > been assigned > > Try cloning them as y2*-* > (the sample HAL above uses joint0 to joint3, which might be clearer. > Adding the prefix got things moving. When I start Axis comes up with four numbered radio buttons for the joints. I hit home all and it does it's thing and the GUI changes to X Y Z radio buttons. I cannot job Y without homing the others jog without homing. Good so far.
Looking closer at the DRO on the screen I can see that the second Y axis is counting down looking for home but is not moving. I racked the gantry and tested to see if it would unrack. What I found is that the new switch is ignored. Using Hal Meter I can watch it toggle. I tried with kinstype=BOTH like the example and also with kinstype=b like the docs call out. No change. It is like the machine knows it has four joints but is acting like it should still home on only one of the Y joints. I do have homing set to -2, sequence is Z X Y. .ini and .hal files are attached. Dave
4HomingSwitchesWithLaser.ini
Description: application/wine-extension-ini
4HomingSwitchesWithLaser.hal
Description: Binary data
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