| ANGLEJOG(9) | HAL Component | ANGLEJOG(9) |
anglejog - Jog two axes (or joints) at an angle
This component accepts a dynamic counts-in input (typically from a manual pulse generator (MPG)) and static angle and scale factor settings. It computes the counts and scale values required to jog two (M,N) axes (or joints) at an angle. The corresponding output pins must be connected to the candidate axis.[MN].jog* (or joint.[MN].jog*) pins to create motion at the current angle. Hal pins are provided to set the vector velocity and acceleration and to enable the computations.
Notes:
1. The max-vel, max-accel settings should be less than or equal to the smallest settings for both of the target axes.
2. The scale-in pin is sampled only when the enable-in pin is false. The value in use is output on the current-scale pin.
3. The angle-degrees-in pin is sampled only when the enable-in pin is false. The value in use is output on the current-angle-degrees pin.
4. The value of the iscale-factor pin multiplies counts-in internally to support integer (s32) calculations for counting. The current-scale-out is divided by the same amount. The pin is sampled only when the enable-in pin is false. The default value should work in most applications.
5. For identity kins machines that support both world jogging (axis letter) and joint jogging (joint number), connections are needed for both the axis pins: axis.[MN].jog-enable,jog-scale,jog-counts and the corresponding joint pins: joint.[mn].jog-enable,jog-scale,jog-counts where [mn] are the joint numbers corresponding to the [MN] axis letters. 6. The current-scale pin is for information, the required output scaling pin is current-scale-out as it depends on the iscale-factor setting.
Simulation Config: configs/sim/axis/anglejog/anglejog.in
Dewey Garrett
GPL
| 2023-02-10 | LinuxCNC Documentation |