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.TH ANGLEJOG "9" "2024-03-13" "LinuxCNC Documentation" "HAL Component"
.SH NAME

anglejog \- Jog two axes (or joints) at an angle
.SH 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 \fBless than or
equal\fR 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.

\fBSimulation Config\fR: configs/sim/axis/anglejog/anglejog.in

.SH FUNCTIONS
.TP
\fBanglejog.\fIN\fB\fR (requires a floating-point thread)

.SH PINS
.TP
.B anglejog.\fIN\fB.enable-in\fR bit in \fR
enables motion (disables alteration of angle and scale)
.TP
.B anglejog.\fIN\fB.counts-in\fR s32 in \fR
MPG (wheel) counts
.TP
.B anglejog.\fIN\fB.angle-degrees-in\fR float in \fR
vector angle
.TP
.B anglejog.\fIN\fB.iscale-factor\fR s32 in \fR(default: \fI10000\fR)
integer scaling factor (>1)
.TP
.B anglejog.\fIN\fB.scale-in\fR float in \fR
magnitude units/count (mag = counts * scale)
.TP
.B anglejog.\fIN\fB.max-vel\fR float in \fR
vector max velocity magnitude
.TP
.B anglejog.\fIN\fB.max-accel\fR float in \fR
vector max acceleration magnitude
.TP
.B anglejog.\fIN\fB.accel-fraction-in\fR float in \fR(default: \fI1\fR)
acceleration fraction input
.TP
.B anglejog.\fIN\fB.enable-out\fR bit out \fR
to: axis.M.jog-enable AND axis.N.jog-enable
.TP
.B anglejog.\fIN\fB.current-scale\fR float out \fR
effective scale (informational)
.TP
.B anglejog.\fIN\fB.current-scale-out\fR float out \fR
to: axis.M.jog-scale AND axis.N.jog-scale
.TP
.B anglejog.\fIN\fB.coscounts\fR s32 out \fR
to: axis.M.jog-counts (cosine counts)
.TP
.B anglejog.\fIN\fB.sincounts\fR s32 out \fR
to: axis.N.jog-counts (sine   counts)
.TP
.B anglejog.\fIN\fB.cos-accel-fraction\fR float out \fR
to: axis.M.jog-accel-fraction
.TP
.B anglejog.\fIN\fB.sin-accel-fraction\fR float out \fR
to: axis.N.jog-accel-fraction
.TP
.B anglejog.\fIN\fB.active\fR bit out \fR
angle jog move in progress
.TP
.B anglejog.\fIN\fB.current-angle-degrees\fR float out \fR
current angle
.TP
.B anglejog.\fIN\fB.current-mag\fR float out \fR
current vector magnitude
.TP
.B anglejog.\fIN\fB.current-vel\fR float out \fR
current vector speed
.SH AUTHOR

Dewey Garrett
.SH LICENSE

GPL