gantrykins − A kinematics module that maps one axis to multiple joints
loadrt gantrykins coordinates=axisletters
gantry joint mapping via loadrt
The coordinates= parameter specifies the initial gantry joint mapping. Each axis letter is mapped to a joint, starting from 0. So coordinates=XYYZ maps the X axis to joint 0, the Y axis to joint 1 and 2, and the Z axis to joint 3. If not specified, the default mapping is coordinates=XYZABC. Coordinate letters may be specified in uppercase or lowercase.
A note about
joints and axes
EMC2 makes a distinction between joints and axes: a joint is something controlled by a motor, and an axis is a coordinate you can move via G-code. You can also jog joints or jog axes.
A gantry has two joints controlling one axis, and this requires a bit of special care.
Homing always happens in joint mode (aka Free mode). The two joints of a gantry’s axis must be homed together, so they must have the same [AXIS_n]HOME_SEQUENCE in the .ini file.
Jogging of a gantry must happen in world mode (aka Teleop mode). If you jog a gantry in joint mode (Free mode), you will move just one of the joints, and the gantry will rack. In contrast, if you jog a gantry in world mode (Teleop mode), it’s the axis that jogs: emc2 will coordinate the motion of the two joints that make up the axis, both joints will move together, and the gantry will stay square.
The Axis GUI has provisions for jogging in joint mode (Free) and in world mode (Teleop). Use the "$" hotkey, or the View mennu to switch between them.
Joint-mode (aka Free mode) supports continuous and incremental jogging. World-mode (aka Teleop mode) only supports continuous jogging.
In the inverse kinematics, each joint gets the value of its corresponding axis. In the forward kinematics, each axis gets the value of the highest numbered corresponding joint. For example, with coordinates=XYYZ the Y axis position comes from joint 2, not joint 1.
Specifies the axis mapped to joint N. The values 0 through 8 correspond to the axes XYZABCUVW. It is preferable to use the "coordinates=" parameter at loadrt-time rather than setting the joint-N parameters later, because the gantrykins module prints the joint-to-axis mapping at loadrt-time, and having that output correct is nice.
gantrykins must be loaded before motion.
kins(9), The Kinematics section of the EMC2 Developer Manual