NAME

       corexy_by_hal - CoreXY kinematics

SYNOPSIS

       loadrt corexy_by_hal [count=N|names=name1[,name2...]]

DESCRIPTION

       Implement  CoreXY  forward  and  inverse  transformations in HAL.  This component provides an alternative
       method for implementing CoreXY kinematics.

       In the INI file, use:

       [KINS]KINEMATICS=trivkins coordinates=xyz kinstype=both

       This component accepts  two  joint  (j0,j1)  motor  position  commands  for  a  trivkins  coordinates=xyz
       configuration  and  computes  equivalent  CoreXY  motor commands for two motors identified as alpha,beta.
       Similarly, the component accepts feedback values for the alpha,beta motor  controllers  and  converts  to
       equivalent joint (j0,j1) motor position feedback values.

       Notes:

       1)  Using  trivkins  with  this  module  allows  home  switches to trigger according to the Cartesian x,y
       positions

       2) Joint pin names are based on coordinates=xyz and the corresponding joint number  assignments  used  by
       trivkins so j0==x, j1==y (man trivkins for more information)

       3)  CoreXY  kinematics  can  also  be  implemented using the kinematics module named corexykins with home
       switches triggered by the  j0,j1 motor positions.  (man kins for more information)

FUNCTIONS

       corexy-by-hal.N (requires a floating-point thread)

PINS

       corexy-by-hal.N.alpha-fb float in
              typ: feedback from alpha motor controller

       corexy-by-hal.N.beta-fb float in
              typ: feedback from beta  motor controller

       corexy-by-hal.N.j0-motor-pos-cmd float in
              typ: from joint.0.motor-pos-cmd

       corexy-by-hal.N.j1-motor-pos-cmd float in
              typ: from joint.1.motor-pos-cmd

       corexy-by-hal.N.j0-motor-pos-fb float out
              typ: to joint.0.motor-pos-fb

       corexy-by-hal.N.j1-motor-pos-fb float out
              typ: to joint.1.motor-pos-fb

       corexy-by-hal.N.alpha-cmd float out
              typ: command to alpha motor

       corexy-by-hal.N.beta-cmd float out
              typ: command to beta ts motor

AUTHOR

       Dewey Garrett based on forum post from nbremond

LICENSE

       GPL

LinuxCNC Documentation                             2025-06-19                                   COREXY_BY_HAL(9)