[Home]JointAxesBranch

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Difference (from prior major revision) (author diff)

Added: 57a58
<tt>axis.N.active == joint.N.active

Changed: 59c60
Many of the axis.N.* pins have changed name to joint.N.*
axis.N.amp-enable-out == joint.N.amp-enable-out

Added: 60a62,132
axis.N.amp-fault-in  == joint.N.amp-fault-in

axis.N.backlash-corr == joint.N.backlash-corr

axis.N.backlash-filt == joint.N.backlash-filt

axis.N.backlash-vel  == joint.N.backlash-vel

axis.N.coarse-pos-cmd == joint.N.coarse-pos-cmd

axis.N.error         == joint.N.error

axis.N.f-error       == joint.N.f-error

axis.N.f-error-lim   == joint.N.f-error-lim

axis.N.f-errored     == joint.N.f-errored

axis.N.faulted       == joint.N.faulted

axis.N.free-pos-cmd  == joint.N.free-pos-cmd

axis.N.free-tp-enable == joint.N.free-tp-enable

axis.N.free-vel-lim  == joint.N.free-vel-lim

axis.N.home-state    == joint.N.home-state

axis.N.home-sw-in    == joint.N.home-sw-in

axis.N.homed         == joint.N.homed

axis.N.homing        == joint.N.homing

axis.N.in-position   == joint.N.in-position

axis.N.index-enable  == joint.N.index-enable

axis.N.jog-counts    == joint.N.jog-counts

axis.N.jog-enable    == joint.N.jog-enable

axis.N.jog-scale     == joint.N.jog-scale

axis.N.jog-vel-mode  == joint.N.jog-vel-mode

axis.N.joint-pos-cmd == joint.N.pos-cmd

axis.N.joint-pos-fb  == joint.N.pos-fb

axis.N.joint-vel-cmd == joint.N.vel-cmd

axis.N.kb-jog-active == joint.N.kb-jog-active

axis.N.motor-offset  == joint.N.motor-offset

axis.N.motor-pos-cmd == joint.N.motor-pos-cmd

axis.N.motor-pos-fb  == joint.N.motor-pos-fb

axis.N.neg-hard-limit == joint.N.neg-hard-limit

axis.N.neg-lim-sw-in == joint.N.neg-lim-sw-in

axis.N.pos-hard-limit == joint.N.pos-hard-limit

axis.N.pos-lim-sw-in == joint.N.pos-lim-sw-in

axis.N.wheel-jog-activ == joint.N.wheel-jog-active

</tt>

This page describes the .ini config changes needed to run the joints_axes branches.

As of 18/12/13 there is a script (scripts/update_ini) which will attempt to auto-rearrange the configuration files (INI and HAL). There is no script to revert the config, so the suggestion to make a backup config still applies. The script makes a backup of the INI and HAL files in an ini-name.old directory, but that is not a complete usable configuration.

To run the script you should navigate to the config directory in a terminal window and issue the command update_ini myinifile.ini.

The joints_axes branches need some (fairly straightforward) changes your .ini file, and master and 2.5 won't run with those changes. So i suggest that you copy your foo.ini file to (for example) foo-ja3.ini and make your changes in the ja3 version of your ini. That way you'll be able to go back and forth between ja3 and the regular branches whenever you want to, by starting linuxcnc with the two different .ini files.

I may have missed some ini changes, if something doesn't work let us know (on the mailing list) and i'll try to update these instructions.

ini file changes

Add KINS

Add this section. Change the JOINTS value to however many joints your machine has, and change the KINEMATICS value to whatever kinematics your machine uses (use trivkins if you don't know).

    [KINS]
    JOINTS = 3
    KINEMATICS = trivkins

Split the [AXIS_*] sections

Split all the [AXIS_n] sections into [AXIS_X] and [JOINT_0], [AXIS_Y] and [JOINT_1], etc. Some variables belong in [AXIS_*], some belong in [JOINT_*], and some belong in both.

  1. The [AXIS_*] sections get the following variables:
    1. HOME
    2. MIN_LIMIT
    3. MAX_LIMIT
    4. MAX_VELOCITY
    5. MAX_ACCELERATION
  2. The [JOINT_*] sections get the following variables:
    1. TYPE
    2. BACKLASH
    3. MIN_LIMIT
    4. MAX_LIMIT
    5. FERROR
    6. MIN_FERROR
    7. HOME
    8. HOME_OFFSET
    9. HOME_SEARCH_VEL
    10. HOME_LATCH_VEL
    11. HOME_FINAL_VEL
    12. HOME_IS_SHARED
    13. HOME_USE_INDEX
    14. HOME_IGNORE_LIMITS
    15. HOME_SEQUENCE
    16. VOLATILE_HOME
    17. LOCKING_INDEXER
    18. MAX_VELOCITY
    19. MAX_ACCELERATION
    20. COMP_FILE_TYPE
    21. COMP_FILE

hal file changes

pin name changes

axis.N.active == joint.N.active

axis.N.amp-enable-out == joint.N.amp-enable-out

axis.N.amp-fault-in  == joint.N.amp-fault-in

axis.N.backlash-corr == joint.N.backlash-corr

axis.N.backlash-filt == joint.N.backlash-filt

axis.N.backlash-vel  == joint.N.backlash-vel

axis.N.coarse-pos-cmd == joint.N.coarse-pos-cmd

axis.N.error         == joint.N.error

axis.N.f-error       == joint.N.f-error

axis.N.f-error-lim   == joint.N.f-error-lim

axis.N.f-errored     == joint.N.f-errored

axis.N.faulted       == joint.N.faulted

axis.N.free-pos-cmd  == joint.N.free-pos-cmd

axis.N.free-tp-enable == joint.N.free-tp-enable

axis.N.free-vel-lim  == joint.N.free-vel-lim

axis.N.home-state    == joint.N.home-state

axis.N.home-sw-in    == joint.N.home-sw-in

axis.N.homed         == joint.N.homed

axis.N.homing        == joint.N.homing

axis.N.in-position   == joint.N.in-position

axis.N.index-enable  == joint.N.index-enable

axis.N.jog-counts    == joint.N.jog-counts

axis.N.jog-enable    == joint.N.jog-enable

axis.N.jog-scale     == joint.N.jog-scale

axis.N.jog-vel-mode  == joint.N.jog-vel-mode

axis.N.joint-pos-cmd == joint.N.pos-cmd

axis.N.joint-pos-fb  == joint.N.pos-fb

axis.N.joint-vel-cmd == joint.N.vel-cmd

axis.N.kb-jog-active == joint.N.kb-jog-active

axis.N.motor-offset  == joint.N.motor-offset

axis.N.motor-pos-cmd == joint.N.motor-pos-cmd

axis.N.motor-pos-fb  == joint.N.motor-pos-fb

axis.N.neg-hard-limit == joint.N.neg-hard-limit

axis.N.neg-lim-sw-in == joint.N.neg-lim-sw-in

axis.N.pos-hard-limit == joint.N.pos-hard-limit

axis.N.pos-lim-sw-in == joint.N.pos-lim-sw-in

axis.N.wheel-jog-activ == joint.N.wheel-jog-active

track ini changes

Since some ini file variables moved from the [AXIS_*] sections to the corresponding [JOINT_*] sections, any references to those variables in the hal file need to be changed to use the new name.


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Last edited December 19, 2013 8:05 am by Andypugh (diff)
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