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The _<letter>_ specifies one of: X Y Z A B C U V W
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* `MAX_VELOCITY = 1.2` - Maximum velocity for this axis in <<sub:ini:sec:traj,machine units>> per second.
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* `MAX_ACCELERATION = 20.0` - Maximum acceleration for this axis in machine units per second squared.
@@ -896,7 +896,7 @@ The <letter> specifies one of: X Y Z A B C U V W
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For a rotary axis (A,B,C typ) with unlimited rotation having no `MAX_LIMIT` for that axis in the `[AXIS_`<letter>`]` section a value of 1e99 is used.
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* `WRAPPED_ROTARY = 1` - When this is set to 1 for an ANGULAR axis the axis will move 0-359.999 degrees.
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Positive Numbers will move the axis in a positive direction and negative numbers will move the axis in the negative direction.
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* `LOCKING_INDEXER_JOINT = 4` - This value selects a joint to use for a locking indexer for the specified axis <letter>.
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* `LOCKING_INDEXER_JOINT = 4` - This value selects a joint to use for a locking indexer for the specified axis _<letter>_.
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In this example, the joint is 4 which would correspond to the B axis for a XYZAB system with trivkins (identity) kinematics.
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When set, a G0 move for this axis will initiate an unlock with the `joint.4.unlock pin` then wait for the `joint.4.is-unlocked` pin then move the joint at the rapid rate for that joint.
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After the move the `joint.4.unlock` will be false and motion will wait for `joint.4.is-unlocked` to go false.
@@ -950,12 +950,12 @@ For example, using trivkins with `coordinates=XZ`, the joint-axes relationships
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* JOINT_0 = X
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* JOINT_1 = Z
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For more information on kinematics modules see the manpage: `$ man kins`
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For more information on kinematics modules see the manpage 'kins' (on the UNIX terminal type `man kins`).
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* `TYPE = LINEAR` - The type of joint, either `LINEAR` or `ANGULAR`.
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* `UNITS = INCH` - (((UNITS)))
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If specified, this setting overrides the related `[TRAJ] UNITS` setting.
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(e.g., `[TRAJ]LINEAR_UNITS` if the `TYPE` of this joint is `LINEAR`, `[TRAJ]ANGULAR_UNITS` if the `TYPE` of this joint is `ANGULAR`)
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If specified, this setting overrides the related `[TRAJ] UNITS` setting,
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e.g., `[TRAJ]LINEAR_UNITS` if the `TYPE` of this joint is `LINEAR`, `[TRAJ]ANGULAR_UNITS` if the `TYPE` of this joint is `ANGULAR`.
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* `MAX_VELOCITY = 1.2` - Maximum velocity for this joint in <<sub:ini:sec:traj,machine units>> per second.
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* `MAX_ACCELERATION = 20.0` - Maximum acceleration for this joint in machine units per second squared.
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* `BACKLASH = 0.0000` - (((Backlash))) Backlash in machine units.
@@ -1067,15 +1067,15 @@ These parameters are Homing related, for a better explanation read the <<cha:hom
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When it is yes, it will affect the kind of home pattern used.
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Currently, you can't home to index with steppers unless you're using StepGen in velocity mode and PID.
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* `HOME_INDEX_NO_ENCODER_RESET = NO` -
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Use YES if the encoder used for this joint does not reset its counter when an index pulse is detected after assertion of the joint index_enable HAL pin.
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Use YES if the encoder used for this joint does not reset its counter when an index pulse is detected after assertion of the joint `index_enable` HAL pin.
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Applicable only for `HOME_USE_INDEX = YES`.
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* `HOME_IGNORE_LIMITS = NO` -
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When you use the limit switch as a home switch and the limit switch this should be set to YES.
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When set to YES the limit switch for this joint is ignored when homing.
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You must configure your homing so that at the end of your home move the home/limit switch is not in the toggled state you will get a limit switch error after the home move.
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* `HOME_IS_SHARED =` _<n>_ -
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If the home input is shared by more than one joint set <n> to 1 to prevent homing from starting if the one of the shared switches is already closed.
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Set <n> to 0 to permit homing if a switch is closed.
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If the home input is shared by more than one joint set _<n>_ to 1 to prevent homing from starting if the one of the shared switches is already closed.
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Set _<n>_ to 0 to permit homing if a switch is closed.
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* `HOME_ABSOLUTE_ENCODER = 0` | `1` | `2` - Used to indicate the joint uses an absolute encoder.
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At a request for homing, the current joint value is set to the `HOME_OFFSET` value.
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If the `HOME_ABSOLUTE_ENCODER` setting is 1, the machine makes the usual final move to the `HOME` value.
@@ -1332,7 +1332,7 @@ The value of _num_spindles_ is set by `[TRAJ]SPINDLES=` .
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There is usually no need to change this number.
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* `TOOL_TABLE = tool.tbl` - The file which contains tool information, described in the User Manual.
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* `DB_PROGRAM = db_program` - Path to an executable program that manages tool data.
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(When a DB_PROGRAM is specified, a TOOL_TABLE entry is ignored)
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When a DB_PROGRAM is specified, a TOOL_TABLE entry is ignored.
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* `TOOL_CHANGE_POSITION = 0 0 2` -
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Specifies the XYZ location to move to when performing a tool change if three digits are used.
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Specifies the XYZABC location when 6 digits are used.
Copy file name to clipboardExpand all lines: docs/src/hal/basic-hal.adoc
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@@ -139,7 +139,7 @@ net signal-name pin-name <optional arrow> <optional second pin-name>
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net home-x joint.0.home-sw-in <= parport.0.pin-11-in
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----
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In the above example 'home-x' is the signal name, 'joint.0.home-sw-in' is a 'Direction IN' pin, '<=' is the optional direction arrow, and 'parport.0.pin-11-in' is a 'Direction OUT' pin.
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In the above example `home-x` is the signal name, `joint.0.home-sw-in` is a 'Direction IN' pin, `<=` is the optional direction arrow, and `parport.0.pin-11-in` is a 'Direction OUT' pin.
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This may seem confusing but the in and out labels for a parallel port pin indicates the physical way the pin works not how it is handled in HAL.
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A pin can be connected to a signal if it obeys the following rules:
@@ -234,7 +234,7 @@ These commands are included so older configurations will still work.
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==== linksp (deprecated)
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The command 'linksp' creates a 'connection' between a signal and one pin.
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The command `linksp` creates a 'connection' between a signal and one pin.
Copy file name to clipboardExpand all lines: docs/src/hal/haltcl.adoc
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@@ -108,8 +108,8 @@ Because INI files can repeat the same ITEM in the same SECTION multiple times, `
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When there is just one value and it is a simple value (all values that are just letters and numbers without whitespace are in this group),
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then it is possible to treat `$::SECTION(ITEM)` as though it is not a list.
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When the value could contain special characters--quote characters, curly-brace characters, embedded whitespace, and other characters that have special meaning in Tcl.
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It is necessary to distinguish between the list of values and the initial (and possibly only) value in the list.
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When the value could contain special characters (quote characters, curly-brace characters, embedded whitespace, and other characters that have special meaning in Tcl)
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then it is necessary to distinguish between the list of values and the initial (and possibly only) value in the list.
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In Tcl, this is written `[lindex $::SECTION(ITEM) 0]`.
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@@ -197,7 +197,7 @@ MAXACCEL = 10.0
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STEPGEN_MAXACCEL = 10.5
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----
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With `haltcl`, you can use Tcl commands to do the computation and eliminate the STEPGEN_MAXACCEL INI file item altogether:
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With `haltcl`, you can use Tcl commands to do the computation and eliminate the `STEPGEN_MAXACCEL` INI file item altogether:
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