1. When executing the HAL command, "loadrt motmod ..." I can use the
arguments "base_period_nsec=<value>", "servo_period_nsec=<value>", and
"traj_period_nsec=<value>", but I can't use "num_joints=<value>",
"num_dio=<value>, or "num_aio=<value>" (I get "unknown symbol in
module" in the error report). These module parameters are defined in
motion.c, something called numJoints is declared in motion.h.
2. In emcmotcfg.h EMCMOT_MAX_JOINTS is #defined as 9. In motion.c,
num_joints is set to this constant and the joint pin groups are
exported:
"/* export joint pins and parameters */
for (n = 0; n < num_joints; n++) {..."
The output of "halcmd show" reveals pins for axis.0 to axis.7 (8 axes,
rather than 9), so I think the code should be:
"/* export joint pins and parameters */
for (n = 0; n <= num_joints; n++) {..."
or EMCMOT_MAX_JOINTS should be 10 if by default you plan on allowing
for trivial kinematics and A,B,C,U,V,W,X,Y, and Z.
Thanks,
Matt
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