Hello again, this is to announce that I've managed to code some sort of circular movement using my approach of calculating the exact time at which to step every axis, and having a RTL task sleeping the correct amount of time between step signals. For those of you listening to alt.machines.cnc: RTL is Realtime Linux; you can find further information at http://www.rtlinux.org/~rtlinux . I still feel that this approach is superior over the periodic approach wrt quality of the generated stepper motor signals. Actually, I've seen my mill moving at speeds it never moved before! OK, I have to confess that up until now I only used DANCAM (shareware) and a free demo version of another vendor. Fred, I understand that you trigger the port from high to low, then wait half of the step interval, then trigger from low to high, then wait the other half. My understanding of the "usual" step/direction interface was that pulling the step line low shortly (say, a microsecond) should be sufficient for every logic to realize that the motor is to be stepped. At least my mill's logic does it like that (I believe what they composed using two NANDS and a capacity is called a mono-flop, no?). [The software is provided to demonstrate the feasibility of the algorithm; compile it at your own risk.] Fred, you spoke about "inverse kinematics". What do you mean by that? What I do is to solve the traditional equations of kinematics (i.e., s(t)=..., v(t)=..., a=const) to deliver t for a given s (namely the next position at which to step the motor). >From your posting I think you mean something else? With these basics in place now I'm planning to interface to the EMC software. Gosh, I hope I won't have to deal with more math is the next days. 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M@P</'CQX\.#!@P</'CQX\.#!@P</'CQX\.#!@P</'CQX\.#A_PO^!QT6A-X` #H `` ` end --- [rtl] --- To unsubscribe: echo "unsubscribe rtl" | mail [EMAIL PROTECTED] OR echo "unsubscribe rtl <Your_email>" | mail [EMAIL PROTECTED] ---- For more information on Real-Time Linux see: http://www.rtlinux.org/~rtlinux/