gantrykins

[dsirl]

I would like to run my 3 axis machine in an XXYZ type arrangement. Currently, I simply tied the Xs to the same pin so they run together.

However, I would really like the advantage of the self squaring of the x axis. I have been trying to gather info on the gantrykins module for EMC. Info is kind of spotty compounded by the fact that I am not exactly a Linux expert.

I don't mind hacking through it as long as I know the end result will be what I want.

Has anyone successfully used gantrykins to drive and home two motors on the same axis?

Thanks in advance for the help.

[dlktdr]

I see this is an older post but I figured I would throw in my 2c. I have my machine running using gantrykins. I haven't found any great documentation either but it you follow the sample config files (stepper-gantry and sim/gantry) it's not too difficult to set up. For the most part I have it working properly but there are a few quirks to look out for.

With gantrykins EMC treats both gantry motors as individual joints, allowing them to move uncoordinated. The first thing you should remember is unless your homing the machine, NEVER use joint mode. If you jog the machine in joint mode it will end up only moving one side of your gantry, causing it to skew, jam and break things.

The other thing to look out for is proper homing setup.

You need to have your all the home settings equal for the two motors/joints. Search, Latch Velocity Sequence.. etc...

The home switches have to be exactly parallel to each other so they activate at the same time. If one switch is offset from the other one motor will start reversing it's direction while the other still moving forward.

If you set the final home position different from your home switch position set final_velocity to a low value. Otherwise whatever joint finishes first will jog off at the default rapid speed while the other is still at latch velocity...

Other than these few issues gantrykins allows you to properly square your machine. I think it's best to adjust machine square my moving you homing cams and leaving all the homing parameters equal. I am using the index pulses from my servo's to home to so there is always some offset, in that case you can adjust the home_offset value on one of the joints to correct for any offsets in the home position.