[TRAJ]AXES should probably be set to 8. Here's the explanation from the
documentation:
One more than the number of the highest joint number in the system.
For an XYZ machine, the joints are numbered 0, 1 and 2; in this case
AXES should be 3. For an XYUV machine using ``trivial kinematics'',
the V joint is numbered 8 and therefore AXES should be 9. For a
machine with nontrivial kinematics (e.g., scarakins) this will
generally be the number of controlled joints.
http://linuxcnc.org/docs/devel/html/config/ini_config/index.html#hue432
In the .hal files, the number of "stepgen" should be 4:
loadrt stepgen step_type=0,0,0,0
and the correspondance between axis numbers, axis names, and stepgen
numbers will be:
Axis Name Axis # Stepgen #
X 0 0
Y 1 1
U 6 2
V 7 3
Thanks for jumping in and trying out this new & only sparsely documented
feature. I hope we can help you get it working.
Jeff
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