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[13:33:45] <JT-Shop> what makes the joint/world mode show up in Axis?
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[15:26:55] <jepler> JT-Shop: a kinematics with kinematics_type other than KINEMATICS_IDENTITY
[15:27:18] <JT-Shop> jepler: thanks
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[19:35:29] <JT-Shop> do you gain anything by using gantrykins instead of just connecting both motors together in hal?
[19:36:18] <Jymmm> That's a really good question
[19:38:23] <archivist> yes, removal of any twist
[19:44:49] <JT-Shop> how does it remove twist?
[19:45:30] <JT-Shop> you can't home each side AFAIK to square the gantry
[19:45:31] <archivist> homing the two sides separately
[19:46:04] <JT-Shop> ah so you have to be in joint mode then home each side
[19:46:19] <JT-Shop> provided your real close to home I assume
[19:46:46] <JT-Shop> or have that flexibility built into the gantry
[19:48:01] <archivist> I think gantry being square to table or not catches a few noobs out
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[19:54:52] <tom3p> i just worked on an Ingersoll gantry, the single drive and motor drove central master pulley, drove 2 timing belts, drove 2 screws.
[19:54:53] <tom3p> only 1 side had linear scale, limits & home
[19:56:14] <tom3p> screw-----belt------motor------belt------screw about 1 meter span
[19:57:32] <tom3p> the foot print of the gantry slide part was maybe 1 meter in Y direction so with a 1m x 1m carriage, there's little crabbing (35mm rails )
[19:57:46] <JT-Shop> that's the way I built my plasma table one motor jack shaft 2 timing belts one switch
[19:58:05] <tom3p> yah, no weird homing needed?
[19:58:15] <JT-Shop> no
[19:58:18] <tom3p> (one swx i spose not )
[19:58:34] <JT-Shop> I just adjust the tension of the belts to square the gantry
[19:58:59] <JT-Shop> yea, one switch for both home and limits per axis
[19:59:22] <tom3p> i didnt mount an indicator from carriage to rail to see if i could rack it, but i doubt i could
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[22:58:12] <JT-Shop> so this is actually wrong in kinematics.h "KINEMATICS_IDENTITY means that the joints and world coordinates are the same, as for slideway machines (XYZ milling machines). The EMC will allow changing from joint to world mode and vice versa."
[22:58:22] <JT-Shop> or only wrong in Axis?
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[23:54:37] <jepler> JT-Shop: that comment is trying to explain when switching between joint and world mode is permitted, depending on the kinematics type
[23:54:46] <jepler> in KINEMATICS_IDENTITY you can switch freely
[23:55:03] <jepler> in KINEMATICS_INVERSE_ONLY, you can only switch to world mode at the joint home position
[23:55:31] <jepler> this is unrelated to the question of whether and when a UI shows a distinction between joint and world modes
[23:55:47] <JT-Shop> ok, I was confused by it
[23:56:02] <jepler> they're not terribly enlightening comments, so if you were puzzled I don't blame you
[23:56:14] <JT-Shop> thanks for the explanation
[23:56:35] <jepler> "the EMC"
[23:56:38] <JT-Shop> just trying to understand a bit more about gantry configs