Sim configs with inconsistent coordinates

[BsAtHome]

There are several sim config INI-files with inconsistent coordinates. The coordinates value from [EMCMOT]EMCMOT does not coincide with the [TRAJ]COORDINATES value.

../configs/sim/axis/vismach/5axis/max5/max5triv.ini: warning: Inconsistent coordinates specifications: trivkins coordinates=XYZABC vs. [TRAJ]COORDINATES=XYZBC
../configs/sim/touchy/ngcgui/pyngcgui_touchy_lathe.ini: warning: Inconsistent coordinates specifications: trivkins coordinates=XYZ vs. [TRAJ]COORDINATES=XZ
../configs/sim/qtvcp_screens/qtaxis_lathe/qtaxis_lathe.ini: warning: Inconsistent coordinates specifications: trivkins coordinates=XZ vs. [TRAJ]COORDINATES=XYZ

Which one is correct? Or are both wrong?

[Sigma1912]

I don't think these are necessarily 'wrong'.

Eg. the 'max5' config is setup with a dummy A axis (joint.3) that is looped in the hal file:
'net Aloop joint.3.motor-pos-cmd joint.3.motor-pos-fb'
The A axis is then omitted from [TRAJ]COORDINATES so it does not appear as an axis in the gui.
I believe that this config could be modified so the coordinates match up but it seems to work fine with the inconsistent entries.

Having more axes in [TRAJ]COORDINATES then in the kinematics 'coordinates' will give the user axes in the gui that cannot be homed, which seems useless but can still be made to work with 'NO_FORCE_HOMING=1'.

[hansu]

2. pyngcgui_touchy_lathe.ini is XZ, not sure why its declared like this:

   [KINS]
   # note joint 1 is not used
   KINEMATICS = trivkins coordinates=xyz
   JOINTS = 3
   

3. qtaxis_lathe.ini - no idea why this has 3 joint. Is this intended @c-morley ?

[c-morley]

Yes. From memory it is required to rotate the coordinates around z.

[hansu]

Should this simulate a special geometry? Because all the other lathe configs don't have that.

[c-morley]

It's so you can invert coordinates when using a back mounted tool. So yes I guess a little u usual.