Joint

\[joint] visible visible in operate view check if the axis should be visible in the operate view cpuportindex controller axis port physical output port for the axis e g 1 for "axis1" port resolution steps per unit (mm/inch) number of steps per millimeter for millimeter mode or number of steps per inch for inch mode for rotary axes, the unit is steps per degree this value defines how many steps the motor needs to perform in order to move its axis by 1 millimeter / 1 inch (depending on chosen unit) example suppose your driver is set to 1600 steps/revolution (1/8 micro step) and you have coupled the motor directly to a lead screw with 5mm pitch the number to be filled in here would be 1600 / 5 = 320 positivelimit positive limit maximum machine position must be a higher value than negativelimit if limits for this joint should not be checked, both this setting and the negativelimit setting should be set to 0 in this case, any position for this joint is valid note that when using kinematics, this limit is tied to the mechanical axis, and the kinematics limits are limits of movement on an axis in 3d space negativelimit negative limit minimum machine position must be a lower value than positivelimit if limits for this joint should not be checked, both this setting and the positivelimit setting should be set to 0 in this case, any position for this joint is valid please note that this limit is the lowest position value that this axis can travel to if you would like your machine coordinates to be in positive value space, you can set this limit to 0 and set the axis positive limit equal to that axis' travel length total length of the axis is the difference between negative and positive limit, so e g negative limit of 300 and positive limit of 200 gives length of 500, or negative limit of 300 and positive limit of 100 gives length of 200 maxvelocity maximum velocity maximum axis velocity, all velocities, whether jogging or g0/g1/g2/g3 are limited to this value maxacceleration maximum acceleration maximum axis acceleration when this value is set equal to the maximum velocity parameter , it will take 1 second to reach the maximum velocity when this value is maximum velocity parameter 2 , the maximum velocity is reached in 0 5 second homevelocity homing velocity velocity value that is used during the home sequence ( home all subroutine) when the velocity is set to 0, the axis is homed manually please note that if an axis is homed manually, home command still has to be issued for that axis once it is in correct/safe position e g home c for the c axis otherwise, limit guards for the machine will not be active homevelocityslow precise/safe homing velocity velocity value that is used for last move during homing sequence (when moving away from the home switch after triggering it) homeposition home position machine position at the moment the home switch activates this determines how the coordinates correspond to the physical working area of the machine usually this position is a corner of the machine's working area backlash backlash compensation specifies the amount of backlash that the software will compensate for it is not recommended to compensate for more than 0 1 millimeters / 0 004 inches if there is more backlash, please try to reduce it mechanically first lowspeedjogpercent low speed jogging % percentage of maximum velocity to be used during low speed jogging (keyboard arrows) medspeedjogpercent medium speed jogging % percentage of maximum velocity to be used during medium speed jogging (ctrl + keyboard arrows) highspeedjogpercent high speed jogging % percentage of maximum velocity to be used during high speed jogging (ctrl + shift + keyboard arrows) pitchcompensationon pitch compensation determines if pitch compensation is enabled pitch compensation compensates for inconsistent linear displacement on an axis pitchcompensationfilename pitch compensation file pitch compensation table file name crosscompensationfromaxis cross compensation axis axis to cross compensate against cross compensation compensates for inaccuracy on axis, depending on another axis position e g when the machine is not square note that cross compensation has to be switched on with interpreter command crosscomp on and can be switched off with crosscomp off crosscompensationfilename cross compensation file cross compensation table file name