2010/6/4 Andy Pugh <[email protected]>: > 2010/6/4 Viesturs Lācis <[email protected]>: > >>> The rest of your HAL and INI would work better with >>> >>> setp gantrykins.joint-0 0 >>> setp gantrykins.joint-1 1 >>> setp gantrykins.joint-2 2 >>> setp gantrykins.joint-3 0 >>> >> >> Ok, thank You, I will try this out. >> Could You, please, be more specific on what is the difference between >> both of these options? > > You have 4 joints and 3 axes, the lines above define which joints > (motors, in effect) are associated with which axis (X,Y,Z,A,B,C,U,V,W)
Yes, I know that :)) I have a question, regarding this association: Since i am going to have 5 axis machine with 6 joints, and following Your suggestion that second motor of the X axis should be selected as a last joint in the list, please comment, if that assumption is correct in the following lines: setp gantrykins.joint-0 0 setp gantrykins.joint-1 1 setp gantrykins.joint-2 2 setp gantrykins.joint-3 3 setp gantrykins.joint-4 4 setp gantrykins.joint-5 0 >> So with Your suggestion in stepconf wizard I will have to create >> following pin assignement - joint 0 step and dir - 2nd and 3rd pins, >> joint 1 step/dir - 6th/7h, joint 2 - 8th/9th, joint 3 - 4th and 5th. >> Do I correctly understand that? > > If you think you can create a working gantry config in stepconf, then no. > stepconf is designed to set up simple systems to get the majority of > people up and running quickly. I think you are at the point where you > need to give up on stepconf and start editing by hand. You can simply > copy the config directory and rename the files to create a cloned > config if you want to preserve the current (semi-working) > stepconf-generated configuration. Obiously I cannot create working gantry config in stepconf, because of the non-trivial kinematics. The reason I like using stepconf is that it very nicely deals the pin association part and also motor setup - how many steps per revolution etc - since I am controlling servos with step/dir signals, I am searching for an optimum settings - initially the servo drives wanted 4096 steps per revolution, which considerably limited max RPM rate because steps per second also is not infinite number. Now I have set servo drives to accept 256 steps per revolution. Seems better now, lots of testing and tweaking to be done... > You will see that there are lines in the HAL file like: net zstep => > parport.0.pin-06-out ? > pin 6 of the second paralell port is simply <signal name> => > parport.1.pin-06-out. > Thank You! This was so obvious that I didn't notice :)) Of course, there are "parport.0" phrases everywhere in HAL file, and changing 0 to 1 does not seem like a rocket-sience... Viesturs ------------------------------------------------------------------------------ ThinkGeek and WIRED's GeekDad team up for the Ultimate GeekDad Father's Day Giveaway. ONE MASSIVE PRIZE to the lucky parental unit. See the prize list and enter to win: http://p.sf.net/sfu/thinkgeek-promo _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
