corexy_by_hal - CoreXY kinematics

       Dewey Garrett based on forum post from nbremond

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

       In the INI file, use:

       [KINS]KINEMATICS=trivkinscoordinates=xyzkinstype=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 Cartesianx,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,j1motor positions.  (man kins for more information)

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

       GPL

LinuxCNC Documentation                             2025-06-19                                   COREXY_BY_HAL(9)

       corexy_by_hal - CoreXY kinematics

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

loadrtcorexy_by_hal[count=N|names=name1[,name2...]]