NAME

       anglejog - Jog two axes (or joints) at an angle

SYNOPSIS

       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

FUNCTIONS

       anglejog.N (requires a floating-point thread)

PINS

       anglejog.N.enable-in bit in
              enables motion (disables alteration of angle and scale)

       anglejog.N.counts-in s32 in
              MPG (wheel) counts

       anglejog.N.angle-degrees-in float in
              vector angle

       anglejog.N.iscale-factor s32 in (default: 10000)
              integer scaling factor (>1)

       anglejog.N.scale-in float in
              magnitude units/count (mag = counts * scale)

       anglejog.N.max-vel float in
              vector max velocity magnitude

       anglejog.N.max-accel float in
              vector max acceleration magnitude

       anglejog.N.accel-fraction-in float in (default: 1)
              acceleration fraction input

       anglejog.N.enable-out bit out
              to: axis.M.jog-enable AND axis.N.jog-enable

       anglejog.N.current-scale float out
              effective scale (informational)

       anglejog.N.current-scale-out float out
              to: axis.M.jog-scale AND axis.N.jog-scale

       anglejog.N.coscounts s32 out
              to: axis.M.jog-counts (cosine counts)

       anglejog.N.sincounts s32 out
              to: axis.N.jog-counts (sine   counts)

       anglejog.N.cos-accel-fraction float out
              to: axis.M.jog-accel-fraction

       anglejog.N.sin-accel-fraction float out
              to: axis.N.jog-accel-fraction

       anglejog.N.active bit out
              angle jog move in progress

       anglejog.N.current-angle-degrees float out
              current angle

       anglejog.N.current-mag float out
              current vector magnitude

       anglejog.N.current-vel float out
              current vector speed

AUTHOR

       Dewey Garrett

LICENSE

       GPL

LinuxCNC Documentation                             2025-06-19                                        ANGLEJOG(9)