4a897203bc
groff treats '-' (the character you get when you hit the "minus" key on the keyboard) as "hyphen", not as "minus". Thus it renders incorrectly in some locales, and line-wraps strangely. groff treats the two-character sequence "\-" as "minus", and the four-character sequence "\(hy" as "hyphen". Details here: https://lists.debian.org/debian-devel/2003/03/msg01481.html This commit replaces every instance of "-" in our manpages where the meaning is "minus" with "\-", so it works right. This fixes many lintian warnings.
78 lines
2.7 KiB
Groff
78 lines
2.7 KiB
Groff
.TH GANTRYKINS "9" "2010-10-12" "LinuxCNC Documentation" "HAL Component"
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.de TQ
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.br
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.ns
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.TP \\$1
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..
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.SH NAME
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gantrykins \- A kinematics module that maps one axis to multiple joints
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.SH SYNOPSIS
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.HP
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.B loadrt gantrykins coordinates=\fIaxisletters
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.SS Specifying gantry joint mapping via loadrt
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The \fBcoordinates=\fR parameter specifies the initial gantry joint mapping.
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Each axis letter is mapped to a joint, starting from 0. So
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\fBcoordinates=XYYZ\fR maps the X axis to joint 0, the Y axis to joint 1 and 2,
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and the Z axis to joint 3. If not specified, the default mapping is
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\fBcoordinates=XYZABC\fR. Coordinate letters may be specified in uppercase
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or lowercase.
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.SS A note about joints and axes
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LinuxCNC makes a distinction between joints and axes: a joint is something
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controlled by a motor, and an axis is a coordinate you can move via
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G-code. You can also jog joints or jog axes.
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A gantry has two joints controlling one axis, and this requires a bit
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of special care.
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Homing always happens in joint mode (aka Free mode). The two joints
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of a gantry's axis must be homed together, so they must have the same
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[AXIS_n]HOME_SEQUENCE in the .ini file.
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Jogging of a gantry must happen in world mode (aka Teleop mode).
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If you jog a gantry in joint mode (Free mode), you will move just one
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of the joints, and the gantry will rack. In contrast, if you jog a
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gantry in world mode (Teleop mode), it's the axis that jogs: linuxcnc
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will coordinate the motion of the two joints that make up the axis,
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both joints will move together, and the gantry will stay square.
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The Axis GUI has provisions for jogging in joint mode (Free) and in
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world mode (Teleop). Use the "$" hotkey, or the View menu to switch
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between them.
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Joint-mode (aka Free mode) supports continuous and incremental jogging.
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World-mode (aka Teleop mode) only supports continuous jogging.
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.SH KINEMATICS
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In the inverse kinematics, each joint gets the value of its corresponding axis.
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In the forward kinematics, each axis gets the value of the highest numbered
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corresponding joint. For example, with \fBcoordinates=XYYZ\fR the Y axis
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position comes from joint 2, not joint 1.
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.SH FUNCTIONS
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None.
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.SH PINS
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None.
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.SH PARAMETERS
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.TP
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.B gantrykins.joint\-\fIN\fR (s32)
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Specifies the axis mapped to joint \fIN\fR. The values 0 through
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8 correspond to the axes XYZABCUVW. It is preferable to use the
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"coordinates=" parameter at loadrt-time rather than setting the joint\-N
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parameters later, because the gantrykins module prints the joint-to-axis
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mapping at loadrt-time, and having that output correct is nice.
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.SH NOTES
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\fBgantrykins\fR must be loaded before \fBmotion\fR.
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.SH SEE ALSO
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\fIKinematics\fR section in the LinuxCNC documentation
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.SH LICENSE
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GPL
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