ANGLEJOG(9)

💖 NAME 💖

anglejog — jog two axes (or joints) at an angle, bestie. yes literally at an angle. iconic behavior fr fr

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✨ SYNOPSIS ✨

okay so this component is so cool. it takes a dynamic counts-in input (usually from a manual pulse generator, aka an MPG, aka the wheel you spin with your lil hands 🎡) plus some static angle and scale factor settings. then it does the math — the counts and scale values you need to jog two (M,N) axes (or joints) at an angle. periodt.

and here's the tea: the corresponding output pins have to be connected to the candidate axis.[MN].jog* (or joint.[MN].jog*) pins to actually create motion at the current angle. no connection = no motion = sad. 🫶

Hal pins are provided so you can set the vector velocity and acceleration, and to enable the computations.

📝 Notes (read these, i'm begging)

1. The max-vel, max-accel settings should be less than or equal to the smallest settings for both of the target axes. don't be greedy 💅
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. (she's self-sufficient, leave her alone ✨)
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. 👑 (do not use the wrong one. i am watching.)

🧪 Simulation Config

configs/sim/axis/anglejog/anglejog.in

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🔥 FUNCTIONS 🔥

• anglejog.N (requires a floating-point thread)

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🎀 PINS 🎀

• anglejog.N.enable-in bit in — enables motion (disables alteration of angle and scale)
• anglejog.N.counts-in s32 in — MPG (wheel) counts
• anglejog.N.angle-degrees-in float in — vector angle
• anglejog.N.iscale-factor s32 in (default: 10000) — integer scaling factor (>1)
• anglejog.N.scale-in float in — magnitude units/count (mag = counts * scale)
• anglejog.N.max-vel float in — vector max velocity magnitude
• anglejog.N.max-accel float in — vector max acceleration magnitude
• anglejog.N.accel-fraction-in float in (default: 1) — acceleration fraction input
• anglejog.N.enable-out bit out — to: axis.M.jog-enable AND axis.N.jog-enable
• anglejog.N.current-scale float out — effective scale (informational)
• anglejog.N.current-scale-out float out — to: axis.M.jog-scale AND axis.N.jog-scale
• anglejog.N.coscounts s32 out — to: axis.M.jog-counts (cosine counts)
• anglejog.N.sincounts s32 out — to: axis.N.jog-counts (sine counts)
• anglejog.N.cos-accel-fraction float out — to: axis.M.jog-accel-fraction
• anglejog.N.sin-accel-fraction float out — to: axis.N.jog-accel-fraction
• anglejog.N.active bit out — angle jog move in progress
• anglejog.N.current-angle-degrees float out — current angle
• anglejog.N.current-mag float out — current vector magnitude
• anglejog.N.current-vel float out — current vector speed

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🧚 AUTHOR 🧚

Dewey Garrett 💜 (the blueprint king, we love him)

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📜 LICENSE 📜

GPL

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okay bestie that's the whole thing, no cap, every pin accounted for 🌈💅

LinuxCNC Documentation · 2026-03-17 · go forth and jog at an angle, you absolute icon 🦋👑