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And that is getting me better results. Thanks for taking a peek at that for me.

Nick

I am getting better results now, and am hopefully working on the last set of errors on this machine.

1) When I am in world mode, X, Y, and Z are always zero, even though the virtual machine head moves around. If I use HAL meter and select Signal -> X-pos-cmd, I will see a non-zero value that changes with my commands in world mode. Is this expected behavior?

2) When homing the joints in joint mode, only joints 0,1, and 2 will show the Crosshair home symbol. 3 and 4 will update and then change to zero on "Home Axis", but will not show the symbol. A second click will prompt saying the joint is already homed though.

3) Building off (2), If I move the joints, home, and try to enter world mode I get the error in the bottom right saying "all joints must be homed before going into teleop mode". If I then close out Axis and reopen it and home (without moving the joints), it will enter world mode without an error.

Thanks again for the help


Edit: I have made it slightly more complex by converting the bipod to a quadpod. It is a rectangle with a stepper in each corner. The new files and definitions are attached. (1) (2) and (3) above happened with the bipod configuration from my earlier posts too.

j1 = bottom left
j2 = bottom right
j3 = top left
j4 = top right

x = 0, y = 0 at bottom left
j2 is at (jx,0)
j3 is at (0,jy)
j4 is at (jx,jy)

dx and dy are slight offsets to help calculate the real joint wire length because the center piece is not a true point. This attachment is hidden for guests. Please log in or register to see it.

Hi, i've read only now about this thread.
I've done an inverted tetrapod, which lies on a plane. I assume your is built vertically (like something to write on a wall?).
I definitely suggest you to download JointAxes3 branch of LinuxCNC, because with this branch you are free to have x number of joints and y number of axis. (you will work, i think, with 4 joints (motors) and 3 axis (X,Y and Z))... thinking more, maybe you don't need one axis, because you're moving on a plane, is it?
But, anyway, to use custom kinematics, JA3 branch is the way.

If i can help you, just ask.
Ciao Davide.