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Added linuxcnc test config before video release

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Hakan Bastedt
2024-01-06 20:54:15 +01:00
parent 9dcc713fab
commit 9a41ccd2bc
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linuxcnc/sim.gmoccapy.lathe_configs/.gitignore vendored Executable file
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linuxcnc/sim.gmoccapy.lathe_configs/LatheMacro.svg Executable file
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linuxcnc/sim.gmoccapy.lathe_configs/README Executable file
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This folder contains a number of simulated lathe configs.
the "lathemacro" config offers a number of simple macros to perform
the most common lathe operations.
The GUI that controls the macros can be viewed by clicking the "Cycles"
tab top left of the graphical preview window.
There are two load-time options to control the tab behaviour:
1) norun will hide the action button, use this if you want to use only
a physical button (connected to gladevcp.cycle-start) to start the macros
(Strongly recommended, especially with Touchy)
2) notouch will allow keyboard editing of the spinboxes. Otherwise the
custom numeric keyboard will be shown.
An example loadrt line, as used here in the Gmoccapy demo is:
[DISPLAY]
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
The window will resize slowly if you grab the corner and move the mouse
inside the window. It's not as bad as it was, but still needs work.
You may need to click the unmaximise button in the toolbar to get a
window border to be able to use the resize handles.
Notes on the keyboard:
As well as the obvious functions and unit conversions, it can be used to
enter fractions. For example if you type 1.1/2 it will automatically
update to display 1.5000 and 16.17/64 will show 16.2656.
This can be used in a limited way to halve the onscreen value eg for
entering radius instead of diameter.
However it only works for whole numbers: 100/2 will become 50 but
3.14149/2 is interpreted as 3 and 14 thousand halves so won't work.
Notes on adding your own cycles:
Create a new G-code subroutine in the same format as the existing ones.
In Glade add a new tab to the 'tabs1' notebook and give it a name matching
the new cycle.
Edit the action button (inside an eventbox) to call the new G-code sub.
Rename the action button to match the tab name and append '.action' eg
MyCycle.action
Create new artwork. I used Fusion360, the models are here:
https://a360.co/3uFPZNv
and the drawings are here:
https://a360.co/3uFPZNv
Esport the drawing page as PDF and import into the lathemacro.svg file in
Inkscape. You will need to resize. Add your own arrows and annotations.
Save the new layer in a layer named "layerN" (lower case) where N is the
tab number, starting at zero. You will need to invoke the XML editor for
this (Shift-Cmd-X on Mac)
The entry boxes are positioned relative to a 1500 x 1000 image; the
original size of the SVG. So you can hover your mouse over the image in
Inkscape to determine the coordinates.
In the in the case of on-drawing controls the coordinates are entered as
an XML comment in the Tooltip for the control in x,y format (The surface speed,
tool and coolant do not need this, they are in a fixed table)
An example:
<!--300,711->Peck distance
Make sure the comment has "use markup" selected for the tooltip.
Also ensure that the control has the "show_keyb" function allocated for
the Widget->button_press event. If you copy-paste a tab and copy-paste
extra controls this should be automatic.
_All_ your new spinboxes will need their own new Adjustment, or they will
change value when you alter the original spinbox that they are a copy of.

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linuxcnc/sim.gmoccapy.lathe_configs/Turner.hal Executable file
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# Generated by PNCconf at Sat Sep 10 10:10:56 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
#autoconverted trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
loadrt cia402 count=2
loadrt metalmusings_encoder
addf lcec.read-all servo-thread
addf cia402.0.read-all servo-thread
addf cia402.1.read-all servo-thread
addf metalmusings-encoder.0 servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#*******************
# AXIS X
#*******************
# --- joint signals for motion
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-pos-fb <= joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
# --- connect stepper driver to joint
net x-pos-cmd => cia402.0.pos-cmd
net x-pos-fb => cia402.0.pos-fb
net x-enable => cia402.0.enable
# --- ect60 settings
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 5000
# --- from stepper(ethercat) to cia402
net x-statusword lcec.0.4.cia-statusword => cia402.0.statusword
net x-opmode-display lcec.0.4.opmode-display => cia402.0.opmode-display
net x-drv-act-pos lcec.0.4.actual-position => cia402.0.drv-actual-position
net x-drv-act-velo lcec.0.4.actual-velocity => cia402.0.drv-actual-velocity
# --- from cia402 to stepper(ethercat)
net x-controlword cia402.0.controlword => lcec.0.4.cia-controlword
net x-modes-of-operation cia402.0.opmode => lcec.0.4.opmode
net x-drv-target-pos cia402.0.drv-target-position => lcec.0.4.target-position
net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.4.target-velocity
#*******************
# AXIS Z
#*******************
# --- joint signals for motion
net z-pos-cmd <= joint.1.motor-pos-cmd
net z-vel-cmd <= joint.1.vel-cmd
net z-pos-fb <= joint.1.motor-pos-fb
net z-enable <= joint.1.amp-enable-out
# --- connect stepper driver to the joint
net z-pos-cmd => cia402.1.pos-cmd
net z-pos-fb => cia402.1.pos-fb
net z-enable => cia402.1.enable
# --- ect60 settings
setp cia402.1.csp-mode 1
setp cia402.1.pos-scale 2000
# --- from servo(ethercat) to cia402
net z-statusword lcec.0.5.cia-statusword => cia402.1.statusword
net z-opmode-display lcec.0.5.opmode-display => cia402.1.opmode-display
net z-drv-act-pos lcec.0.5.actual-position => cia402.1.drv-actual-position
net z-drv-act-velo lcec.0.5.actual-velocity => cia402.1.drv-actual-velocity
# --- from cia402 to servo(ethercat)
net z-controlword cia402.1.controlword => lcec.0.5.cia-controlword
net z-modes-of-operation cia402.1.opmode => lcec.0.5.opmode
net z-drv-target-pos cia402.1.drv-target-position => lcec.0.5.target-position
net z-drv-target-velo cia402.1.drv-target-velocity => lcec.0.5.target-velocity
#*********************
# E-STOP
#*********************
setp iocontrol.0.emc-enable-in 1
#net estop iocontrol.0.emc-enable-in lcec.0.1.din-0
#setp lcec.0.3.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
setp lcec.0.6.enc-pos-scale [SPINDLE_9]ENCODER_SCALE
#net spindle-revs <= lcec.0.3.enc-pos
net spindle-revs <= lcec.0.6.enc-position
loadrt invert
loadrt mult2 names=mult2.rps,mult2.rpm
addf invert.0 servo-thread
addf mult2.rps servo-thread
addf mult2.rpm servo-thread
setp invert.0.in [SPINDLE_9]ENCODER_SCALE
setp mult2.rpm.in0 -60.0
setp mult2.rpm.in0 60.0
#net enc-invert-pos-scale mult2.rps.in0 <= invert.0.out
#net enc-get-freq-rps mult2.rps.in1 <= lcec.0.3.enc-frequency
#net spindle-vel-fb-rps mult2.rpm.in1 <= mult2.rps.out
#net spindle-vel-fb-rpm mult2.rpm.out
#net spindle-index-enable lcec.0.3.enc-index-c-enable
net spindle-vel-fb-rps mult2.rpm.in1 <= lcec.0.6.enc-frequency
net spindle-vel-fb-rpm mult2.rpm.out
net to_encoder metalmusings-encoder.0.index-latch-enable lcec.0.6.enc-index-latch-enable
net from_encoder metalmusings-encoder.0.index-status lcec.0.6.index-status
net spindle-index-enable metalmusings-encoder.0.index-c-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.axis.x.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net joint-select-b halui.axis.z.select
net z-is-homed halui.joint.1.is-homed
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
#net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
#net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
#net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
#net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
addf cia402.0.write-all servo-thread
addf cia402.1.write-all servo-thread
addf lcec.write-all servo-thread

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linuxcnc/sim.gmoccapy.lathe_configs/Turner.ini Executable file
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# This config file was created 2016-11-26 11:13:55.093594 by the update_ini script
# The original config files may be found in the /home/debian/linuxcnc/configs/Turner/Turner.old directory
# Generated by PNCconf at Fri Sep 9 22:31:33 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = Turner
DEBUG = 0
[DISPLAY]
LATHE=1
DISPLAY = gmoccapy
BACK_TOOL_LATHE = 0
CYCLE_TIME = 200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/debian/linuxcnc/configs/Turner/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 1800.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
EMBED_TAB_NAME = Cycles
EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = .:../../nc_files/subs:nc_files:../../../nc2
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G7 M9 M5 G64 P0.005
FEATURES=12
USER_M_PATH = nc_files:.
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[HAL]
TWOPASS = true
HALUI = halui
HALFILE = Turner.hal
HALFILE = custom.hal
#HALFILE = xhc-hb04.tcl
#HALFILE = monitor_xhc-hb04.tcl
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 20.0
MAX_LINEAR_VELOCITY = 40.00
NO_FORCE_HOMING = 1
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 2
#********************
# Axis X
#********************
[AXIS_X]
MIN_LIMIT = -106
MAX_LIMIT = 106
MAX_VELOCITY = 15.0
MAX_ACCELERATION = 500.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 1
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 500.0
MAX_OUTPUT = 0.0
MIN_LIMIT = -106
MAX_LIMIT = 106
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -560.0
MAX_LIMIT = 560.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 1000.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 1
MAX_VELOCITY = 75.0
MAX_ACCELERATION = 1000.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 2400.0
OUTPUT_SCALE =5760
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2400
#ENCODER_SCALE = -4000
ENCODER_SCALE = 2000

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linuxcnc/sim.gmoccapy.lathe_configs/Turner.pref Executable file
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[DEFAULT]
dro_digits = 3
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
enable_dro = False
scale_jog_vel = 24.0
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
turtle_jog_factor = 20
hide_turtle_jog_button = False
unlock_code = 123
toggle_readout = True
spindle_start_rpm = 300.0
kbd_height = 250
view = y
blockheight = 0.0
reload_tool = False
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
use_toolmeasurement = False
gtk_theme = Follow System Theme
icon_theme = classic
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
hide_tooltips = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/debian
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
blockdel = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
show_keyboard_on_file_selection = False

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linuxcnc/sim.gmoccapy.lathe_configs/__pycache__/lathehandler.cpython-311.pyc Executable file
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linuxcnc/sim.gmoccapy.lathe_configs/autosave.halscope Executable file
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THREAD servo-thread
MAXCHAN 8
HMULT 1
HZOOM 5
HPOS 6,169492e-01
CHAN 1
PIN lcec.0.0.commanded-position
VSCALE -4
VPOS 0,550725
VOFF 3,580000e+01
CHAN 2
PIN lcec.0.0.DiffT
VSCALE 8
VPOS 0,382609
VOFF 3,588000e+05
CHAN 4
PIN lcec.0.0.index-byte
VSCALE 5
VPOS 0,547826
VOFF 2,550000e+03
CHAN 5
PIN lcec.0.0.index-status
VSCALE 5
VPOS 0,546377
VOFF 1,400000e+04
CHAN 3
PIN lcec.0.0.actual-position
VSCALE -4
VPOS 0,549342
VOFF 3,580000e+01
TMODE 0
RMODE 0

64
linuxcnc/sim.gmoccapy.lathe_configs/boring.ngc Executable file
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;boring
O<boring> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#8 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = #<_z> (starting Z)
#20 = [#6 * SIN[#7]]
#21 = [-#6 * COS[#7]]
#22 = [#6 / COS[#7]]
#23 = [#5 + #6 - #20]
#24 = [[#23 - #13] * TAN[#7]]
G96 D2500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#4 ; Feed-Per-Rev Mode
O90 IF [#9 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
(debug, Turning finish dia #1 start dia #14 start length #13 finish length #5 coolant #9)
O100 WHILE [#14 LT [#1 - #3]]
g0 X #14
#14=[#14 + #3]
G1 X #14
G1 Z #23 X[#14 + #24]
O101 IF [#6 GT 0]
G3 Z#5 X[#14 + #24 + #21] I#21 K#20
G1 X[#14 + #24 + #21 - #3]
O101 ELSE
G1 X[#14 + #24 - [#3 * 1.5]]
O101 ENDIF
G0 Z[#13]
O100 ENDWHILE
G0 x#1
G1 Z #23 X[#1 + #24]
O102 IF [#6 GT 0]
G3 Z#5 X[#1 + #24 + #21] I#21 K#20
G1 X[#1 + #24 + #21 - #3]
O102 ELSE
G1 X[#1 + #24 - #3]
O102 ENDIF
G0 Z #13
G0 X #1 ; For touch-off
M5 M9
G7
O<boring> endsub
M2

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linuxcnc/sim.gmoccapy.lathe_configs/chamfer.ngc Executable file
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;chamfer
O<chamfer> sub
G8 ; Lathe radius Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#6 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = [#<_z>] (starting Z)
G96 D1500 S#2 ; Constant Surface Speed Mode
M3
g95 F0.1 ; Feed-Per-Rev Mode
O90 IF [#12 GT 0.5]
M8
O90 ENDIF
#20 = 0
O101 if [#9 GT 0.5] ; front outside
o100 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g1 x#1 z[#5 - #20]
g1 x #14
g0 z#13
o100 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g1 x#1 z[#5 - #8]
g1 x #14
g0 z#13
O101 elseif [#10 GT 0.5] ; front inside
o102 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 + #20] z#13
g1 z#5
g1 x#1 z[#5 - #20]
g1 x #14
g0 z#13
o102 endwhile
g0 x#14 z#13
g0 x[#1 + #8]
g1 z#5
g1 x#1 z[#5 - #8]
g1 x #14
g0 z#13
O101 elseif [#11 GT 0.5] ; back outside
o103 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g1 x#1 z[#5 + #20]
g1 x #14
g0 z#13
o103 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g1 x#1 z[#5 + #8]
g1 x #14
g0 z#13
O101 endif
M5 M9
G7
O<chamfer> endsub
m2
%

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linuxcnc/sim.gmoccapy.lathe_configs/core_sim_lathe.hal Executable file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec
addf lcec.read-all servo-thread
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net Xpos lcec.0.0.commanded-position
net myXvel lcec.0.0.commanded-velocity joint.0.vel-cmd
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

59
linuxcnc/sim.gmoccapy.lathe_configs/core_sim_lathe_C.hal Executable file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

59
linuxcnc/sim.gmoccapy.lathe_configs/core_sim_lathe_CW.hal Executable file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
net Wpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

51
linuxcnc/sim.gmoccapy.lathe_configs/custom.hal Executable file
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# Include your custom HAL commands here
# Load the Huanyang VFD user component
loadusr -Wn spindle-vfd hy_vfd -n spindle-vfd -d /dev/hy_vfd -r 19200 -p none -s 1 -b 8
# motion.spindle-speed-in needs rev per second
loadrt scale names=scale.0,scale.1,scale.2
# scale.0 gearbox via M101-M106, M101 being lowest gear.
# scale.1 Inverted gear ratio
# scale.2 motion.spindle-speed.in in rev/sec
loadrt limit2 names=spindlemax
loadrt mult2 names=mult2.1
addf scale.0 servo-thread
addf scale.1 servo-thread
addf scale.2 servo-thread
addf mult2.1 servo-thread
addf spindlemax servo-thread
setp scale.0.gain 0.8846 # Start with fourth gear
setp scale.1.gain 1.13045
setp scale.2.gain 0.0166666667
setp mult2.1.in1 25.0
unlinkp spindle.0.forward
unlinkp spindle.0.reverse
unlinkp spindle.0.on
#unlinkp motion.spindle-at-speed
net spindle-fwd spindle.0.forward => spindle-vfd.spindle-forward
net spindle-reverse spindle.0.reverse => spindle-vfd.spindle-reverse
net spindle-on spindle.0.on => spindle-vfd.spindle-on
net spindle-at-speed <= spindle-vfd.spindle-at-speed
#net spindle-enable => spindle-vfd.enable
setp spindle-vfd.enable 1
# Prepare max limit rpm for spindle
net spindle-max-freq spindle-vfd.max-freq => mult2.1.in0
net spindle-max-rpm mult2.1.out => spindlemax.max # Max limit for motor rpm, like 67*25 = 1675
# Give speed to vfd, limited to max possible
unlinkp spindle.0.speed-out-abs
net spindle-speed-scale spindle.0.speed-out-abs => scale.1.in # Spindle rpm => Motor rpm
net spindle-speed-cmd-unlimited scale.1.out => spindlemax.in # Limit spindle rpm
net spindle-speed-cmd-limited spindlemax.out => spindle-vfd.speed-command # Feed to vfd
# Convert actual feed from rpm to rps, consider gear in use.
unlinkp spindle.0.speed-in
net spindle-speed-scale2 spindle-vfd.spindle-speed-fb => scale.2.in # Motor rpm => Motor rps
net spindle-speed-gears scale.2.out => scale.0.in # Motor rps => spindle rps
net spindle-speed-in scale.0.out => spindle.0.speed-in
# Gamepad
loadusr -W hal_input -KRAL F310
# Resten är i custom_postgui.hal

74
linuxcnc/sim.gmoccapy.lathe_configs/custom_postgui.hal Executable file
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# Include your custom_postgui HAL commands here
# This file will not be overwritten when you run PNCconf again
loadrt or2 count=2
loadrt mux4 count=1
loadrt and2 count=4
loadrt oneshot count=1
addf or2.0 servo-thread
addf or2.1 servo-thread
addf mux4.0 servo-thread
addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf oneshot.0 servo-thread
setp mux4.0.in0 0
setp mux4.0.in1 25
setp mux4.0.in2 50
setp mux4.0.in3 1000
net remote-speed-slow or2.0.in0 <= input.0.btn-x
net remote-speed-medium or2.1.in0 <= input.0.btn-a
net remote-speed-fast or2.0.in1 <= input.0.btn-b
net remote-speed-fast or2.1.in1 <= input.0.btn-b
net joy-speed-1 mux4.0.sel0 <= or2.0.out
net joy-speed-2 mux4.0.sel1 <= or2.1.out
net jog-speed <= mux4.0.out
net jog-x-analog <= input.0.abs-y-position
net jog-z-analog <= input.0.abs-x-position
# Spindle start+manual and stop
net manual-mode-spindle-lock and2.3.in0 halui.mode.manual <= input.0.btn-mode
net spindle-safe-start and2.3.in1 <= input.0.btn-tr
net spindle-manual-cw <= and2.3.out
net spindle-manual-stop <= input.0.btn-tl
# E-stop
net estop halui.estop.activate <= input.0.btn-y
# net manual-mode halui.mode.manual <= input.0.btn-mode
# Start/pause/resume stop
setp oneshot.0.width 0.0011
setp oneshot.0.retriggerable 0
setp oneshot.0.rising 1
setp oneshot.0.falling 0
net program-is-idle halui.program.is-idle => and2.0.in0
net program-is-running halui.program.is-running => and2.1.in0
net program-is-paused halui.program.is-paused => and2.2.in0
net button-edge-trig input.0.btn-start => oneshot.0.in
net button-start oneshot.0.out => and2.0.in1 and2.1.in1 and2.2.in1
net program-start and2.0.out => halui.program.run halui.mode.auto
net program-pause and2.1.out => halui.program.pause
net program-resume and2.2.out => halui.program.resume
net program-stop input.0.btn-select => halui.program.stop
net spindle-at-speed gmoccapy.spindle_at_speed_led
net spindle-vel-fb-rpm => gmoccapy.spindle_feedback_bar
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
net tool-prep-loop iocontrol.0.tool-prepare <= iocontrol.0.tool-prepared
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

49
linuxcnc/sim.gmoccapy.lathe_configs/drilling.ngc Executable file
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;drilling
; Use T = 0 for tailstock drilling, then this just sets speed
O<drilling> SUB
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
#10 = [#2 * 1000 / [ #1 * 3.141592]]
(debug, #10)
O90 IF [#7 GT 0.5]
M8
O90 ENDIF
O100 IF [#6 LT 0.5]
G97 M3 S#10
O<drilling> RETURN
O100 ENDIF
M6 T#6 G43
G0 X0
O83 IF [#5 GT 0] ; Pecking
G17
G95 F#3 ; Feed-Per-Rev Mode
G97 M3 S#10
G98
G83 R#<_z> Q#5 Z#4
M5 M9 G18
O<drilling> RETURN
O83 ENDIF
O82 IF [1]; not pecking
G17
G95 F#3 ; Feed-Per-Rev Mode
G97 M3 S#10
G98
G82 R#<_z> P0.5 Z#4
M5 M9 G18
O82 ENDIF
O<drilling> ENDSUB
O<drilling> call [10] [100] [0.03] [0] [2] [0] [1]
M2

39
linuxcnc/sim.gmoccapy.lathe_configs/ethercat-conf.xml Executable file
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<masters>
<master idx="0" appTimePeriod="1000000" refClockSyncCycles="-1"> <!-- was "5" -->
<slave idx="0" type="generic" vid="00aaa" pid="000bbbccc" configPdos="true">
<dcConf assignActivate="300" sync0Cycle="*1" sync0Shift="500000"/> <!-- was "0" -->
<syncManager idx="2" dir="out">
<pdo idx="1600">
<pdoEntry idx="7000" subIdx="00" bitLen="32" halPin="enc-pos-scale" halType="s32"/>
</pdo>
<pdo idx="1601">
<pdoEntry idx="7001" subIdx="00" bitLen="32" halPin="enc-index-latch-enable" halType="u32"/>
</pdo>
<pdo idx="1602">
<pdoEntry idx="7002" subIdx="01" bitLen="64" halPin="commanded-position" halType="float-double"/>
<pdoEntry idx="7002" subIdx="02" bitLen="64" halPin="commanded-velocity" halType="float-double"/>
</pdo>
</syncManager>
<syncManager idx="3" dir="in">
<pdo idx="1a00">
<pdoEntry idx="6000" subIdx="00" bitLen="64" halPin="enc-position" halType="float-double"/>
</pdo>
<pdo idx="1a01">
<pdoEntry idx="6001" subIdx="00" bitLen="64" halPin="enc-frequency" halType="float-double"/>
</pdo>
<pdo idx="1a02">
<pdoEntry idx="6002" subIdx="00" bitLen="32" halPin="DiffT" halType="u32"/>
</pdo>
<pdo idx="1a03">
<pdoEntry idx="6003" subIdx="00" bitLen="32" halPin="index-byte" halType="u32"/>
</pdo>
<pdo idx="1a04">
<pdoEntry idx="6004" subIdx="00" bitLen="32" halPin="index-status" halType="u32"/>
</pdo>
<pdo idx="1a05">
<pdoEntry idx="6005" subIdx="01" bitLen="64" halPin="actual-position" halType="float-double"/>
</pdo>
</syncManager>
</slave>
</master>
</masters>

1
linuxcnc/sim.gmoccapy.lathe_configs/ethercat_end.hal Executable file
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addf lcec.write-all servo-thread

45
linuxcnc/sim.gmoccapy.lathe_configs/facing.ngc Executable file
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;Facing
O<facing> sub
G7 ; Lathe Diameter Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#7 G43
O90 IF [#8 GT 0.5]
M8
O90 ENDIF
O10 IF [#6 NE 0]
(MSG, Angled facing isn't supported yet)
O10 ENDIF
#14 = [#<_x> * 2] (starting X)
#13 = #<_z> (starting Z)
G96 D2500 S#2 ; Constant Surface Speed Mode
M3
g95 F#4 ; Feed-Per-Rev Mode
g4p1 ; Wait to reach speed
O200 WHILE [#13 GT #5 + #3]
#13=[#13-#3]
G1 Z#13
G1 X#1
G0 Z[#13+#3]
G0 X#14
G0 Z#13
O200 ENDWHILE
G1 Z#5
G1 X#1
G0 Z[#13+#3]
G0 X[#14+#3]
G0 Z#5 ; For touch-off
M5 M9
O<facing> endsub
M2

81
linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe.pref Executable file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = no
show_preview_on_offset = False
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True
tool_in_spindle = 3
diameter offset_axis_x = 0
offset_axis_x = 0.0
offset_axis_z = 0.0
offset_axis_r = 50.0
radius offset_axis_x = 0
use_toolmeasurement = False
kbd_height = 250
icon_theme = None
hide_tooltips = False

72
linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe_c.pref Executable file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = True
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 3
toggle_readout = True
tool_in_spindle = 0

23
linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_postgui.hal Executable file
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###################################################################
# moccapy_postgui.hal file from Norbert Schechner #
###################################################################
loadrt abs names=abs_spindle_feedback
addf abs_spindle_feedback servo-thread
net spindle-speed-limited => abs_spindle_feedback.in
net spindle-abs abs_spindle_feedback.out => gmoccapy.spindle_feedback_bar
net spindle-at-speed gmoccapy.spindle_at_speed_led
# the unlink pin commands are only used, because they are connected
# in core_sim.hal and we use this file to simulate
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
unlinkp iocontrol.0.tool-prep-number
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

32
linuxcnc/sim.gmoccapy.lathe_configs/grooving.ngc Executable file
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;grooving
O<grooving> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#4 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
G96 D1500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#3 ; Feed-Per-Rev Mode
O90 IF [#5 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
G1 F#3 X#1
G0 X#14
M5 M9
G7
O<grooving> endsub
M2

70
linuxcnc/sim.gmoccapy.lathe_configs/hallib/README Executable file
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This directory contains halfiles (*.hal and *.tcl) that are available
using the LinuxCNC halfile search path or by an explicit directive.
The HALLIB_PATH is '.:HALLIB_DIR'
The '.' specifies the directory containing the INI file.
HALIB_DIR specifies this directory.
The explicit directive uses a prefix (LIB:) to identify halfiles:
[HAL]
HALFILE = LIB:filename.[hal|tcl]
The LinuxCNC startup script (linuxcnc) finds each halfile using the
HALLIB_PATH unless the explicit directive is used.
Also included in this directory are files associated with included
system halfiles. For example, the button layout files
(xhc-hb04-layout*.cfg) that are used with the halfile xhc-hb04.tcl.
------------------------------------------------------------------------
Hal files (*.hal) Notes
----------------------- ---------------------------------------------
axis_manualtoolchange.hal setup for using hal_manualtoolchange
(for axis or other guis)
core_sim.hal xyz simulator config
core_servo.hal xyz servo (pid) config
core_sim9.hal 9 axis (xyzabcuvw) simulation config
core_stepper.hal xyz stepper config
gantrysim.hal gantrykins config, 4 joints: X Y Y Z
lathe.hal simulate spindle with encoder,sim_encoder
locking_indexer.hal simulate locking rotary using timedelay comp
wheeljogpins.tcl enable wheel jog pins for joints & axes
moveoff_external.hal Simulate external control connections for
a moveoff component
servo_sim.hal simulate servo (pid) xyz using lowpass comp
sim_spindle_encoder.hal simulate spindle with lowpass filter
simulated-gantry-home.hal simulate gantry home switches (4 joints)
simulated_home.hal simulate xyz home switches
simulated_limits.hal simulate xyz limit switches
tripodsim.hal simulated tripodkins system
Haltcl Files (*.tcl) Notes
----------------------- ---------------------------------------------
basic_sim.tcl set up a sim config (arbitrary no. of axes)
var_show.tcl show INI variables and context
hookup_moveoff.tcl make connections for a moveoff component
plasmac.tcl common connections for the plasmac component
xhc-hb04.tcl Configuration builder for xhc-hb04 pendant
xhc-hb04-layout1.cfg button layout 1 for xhc-hb04.tcl
xhc-hb04-layout2.cfg button layout 2 for xhc-hb04.tcl
halcheck.tcl Report: 1) functions without addf
2) signals with no inputs
3) signals with no output
Haltcl libs (*_lib.tcl) Notes
----------------------- ---------------------------------------------
sim_lib.tcl simulator config procedures
procs:
core_sim (arbitrary axes)
make-ddts (arbitrary axes)
simulated_home (arbitrary axes)
use_hal_manualtoolchange
sim_spindle
util_lib.tcl utility procedures
procs:
show_context (calling parms)
show_ini (INI file settings)
show_env (environmental vars)

10
linuxcnc/sim.gmoccapy.lathe_configs/hallib/axis_manualtoolchange.hal Executable file
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loadusr -W hal_manualtoolchange
# in case they were linked already
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
net tool-change hal_manualtoolchange.change iocontrol.0.tool-change
net tool-changed hal_manualtoolchange.changed iocontrol.0.tool-changed
net tool-prep-number hal_manualtoolchange.number iocontrol.0.tool-prep-number

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/basic_sim.tcl Executable file
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# basic_sim.tcl
#
# Provide common hal components and connections for a simulated machine.
# By default, the script makes and connects ddts, simulated_home,
# spindle, and hal_manualtoolchange components.
#
# Options are available to
# a) disable specific hal components and connections
# b) save a halfile equivalent to the hal commands executed by
# this script (and any prior executed hal commands)
#
# Coordinate letters and number_of_joints are determined from the usual
# INI file settings.
#
# INI file usage:
# [HAL]HALFILE = basic_sim.tcl [Options]
# Options:
# -no_make_ddts
# -no_simulated_home
# -no_use_hal_manualtoolchange
# -no_sim_spindle
#----------------------------------------------------------------------
# Notes:
# 1) ::env() is a global associative array of environmental variables
# as exported by the main LinuxCNC script (linuxcnc)
# 2) Settings from the INI file are available as global associative
# arrays named: ::SECTION(varname)
# example: ::EMCMOT(SERVO_PERIOD)
# 3) procs are from sim_lib.tcl
#begin-----------------------------------------------------------------
source [file join $::env(HALLIB_DIR) sim_lib.tcl]
set save_options {}
if [catch {check_ini_items} msg] {
puts "\nbasic_sim.tcl ERROR: $msg\n"
exit 1
}
set axes [get_traj_coordinates]
set number_of_joints $::KINS(JOINTS)
set base_period 0 ;# 0 means no thread
if [info exists ::EMCMOT(BASE_PERIOD)] {
set base_period $::EMCMOT(BASE_PERIOD)
}
core_sim $axes \
$number_of_joints \
$::EMCMOT(SERVO_PERIOD) \
$base_period \
$::EMCMOT(EMCMOT)
if {[lsearch -nocase $::argv -no_make_ddts] < 0} {
make_ddts $number_of_joints
}
if {[lsearch -nocase $::argv -no_simulated_home] < 0} {
simulated_home $number_of_joints
}
if {[lsearch -nocase $::argv -no_use_hal_manualtoolchange] < 0} {
use_hal_manualtoolchange
lappend save_options use_hal_manualtoolchange
}
if {[lsearch -nocase $::argv -no_sim_spindle] < 0} {
sim_spindle
}
# make a halfile (inifilename_cmds.hal) with equivalent hal commands
set savefilename \
./[file rootname [file tail $::env(INI_FILE_NAME)]]_cmds.hal
save_hal_cmds $savefilename $save_options

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl Executable file
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# check_config.tcl
# Usage: tclsh path_to_this_file inifilename
# if a check fails, print message and exit 1
#
# checks:
# 1) mandatory items per ::mandatory_items list
# 2) if trivkins, check consistency of [JOINT_] and [AXIS_]
# MIN_LIMIT and MAX_LIMIT
#----------------------------------------------------------------------
set ::mandatory_items {KINS KINEMATICS
KINS JOINTS
}
# Ref: src/emc/nml_intf/emccfg.h,src/emc/ini/inijoint.cc,src/emc/iniaxis.cc:
set ::DEFAULT_AXIS_MAX_VELOCITY 1.0
set ::DEFAULT_AXIS_MAX_ACCELERATION 1.0
set ::DEFAULT_JOINT_MAX_VELOCITY 1.0
set ::DEFAULT_JOINT_MAX_ACCELERATION 1.0
# Ref: src/emc/ini/iniaxis.cc:
set ::DEFAULT_AXIS_MIN_LIMIT -1e99
set ::DEFAULT_AXIS_MAX_LIMIT +1e99
#----------------------------------------------------------------------
proc warnings msg {
puts -nonewline "\n$::progname:\n"
catch {puts ($::kins(module) kinematics) WARNING:"}
foreach m $msg {puts " $m"}
puts ""
} ;# warnings
proc err_exit msg {
puts -nonewline "\n$::progname:\n"
catch {puts ($::kins(module) kinematics) ERROR:"}
foreach m $msg {puts " $m"}
puts ""
exit 1
} ;# err_exit
proc check_mandatory_items {} {
foreach {section item} $::mandatory_items {
if ![info exists ::[set section]($item) ] {
set section [string trim $section :]
lappend emsg "Missing \[$section\]$item="
}
}
if [info exists emsg] {
err_exit $emsg
}
} ;# check_mandatory_items
proc uniq {list_name} { ;# make list unique
foreach item $list_name { set tmp($item) "" }
return [array names tmp]
} ;# uniq
proc joints_for_trivkins {coords} {
# ref: src/emc/kinematics/trivkins.c
# order of coord letters determines assigned joint number
if {"$coords" == ""} {set coords {X Y Z A B C U V W}}
set i 0
foreach a [string toupper $coords] {
# assign to consecutive joints:
lappend ::kins(jointidx,$a) $i
incr i
}
} ;# joints_for_trivkins
proc consistent_coords_for_trivkins {trivcoords} {
set m {" " "" "\t" ""} ;# mapping to remove whitespace
set trivcoords [string map $m $trivcoords]
if {"$trivcoords" == "XYZABCUVW"} {
return ;# unspecified trivkins coordinates
# allows use of any coordinates
}
set trajcoords ""
if [info exists ::TRAJ(COORDINATES)] {
set trajcoords [string map $m [lindex $::TRAJ(COORDINATES) 0]]
}
if {[string toupper "$trivcoords"] != [string toupper "$trajcoords"]} {
lappend ::wmsg "INCONSISTENT coordinates specifications:
trivkins coordinates=$trivcoords
\[TRAJ\]COORDINATES=$trajcoords"
}
} ;# consistent_coords_for_trivkins
proc validate_identity_kins_limits {} {
set emsg ""
for {set j 0} {$j < $::KINS(JOINTS)} {incr j} {
if {![info exists ::JOINT_[set j](MAX_VELOCITY)] } {
lappend ::wmsg "Unspecified \[JOINT_$j\]MAX_VELOCITY, default used: $::DEFAULT_JOINT_MAX_VELOCITY"
}
if {![info exists ::JOINT_[set j](MAX_ACCELERATION)] } {
lappend ::wmsg "Unspecified \[JOINT_$j\]MAX_ACCELERATION, default used: $::DEFAULT_JOINT_MAX_ACCELERATION"
}
}
foreach c [uniq $::kins(coordinates)] {
# array test avoids superfluous messages when coordinates= not specified
if [array exists ::AXIS_[set c]] {
if {![info exists ::AXIS_[set c](MAX_VELOCITY)] } {
lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_VELOCITY, default used: $::DEFAULT_AXIS_MAX_VELOCITY"
}
if {![info exists ::AXIS_[set c](MAX_ACCELERATION)] } {
lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_ACCELERATION, default used: $::DEFAULT_AXIS_MAX_ACCELERATION"
}
}
set missing_axis_min_limit 0
set missing_axis_max_limit 0
if ![info exists ::AXIS_[set c](MIN_LIMIT)] {
set ::AXIS_[set c](MIN_LIMIT) $::DEFAULT_AXIS_MIN_LIMIT
set missing_axis_min_limit 1
}
if ![info exists ::AXIS_[set c](MAX_LIMIT)] {
set ::AXIS_[set c](MAX_LIMIT) $::DEFAULT_AXIS_MAX_LIMIT
set missing_axis_max_limit 1
}
foreach j $::kins(jointidx,$c) {
if [info exists ::JOINT_[set j](MIN_LIMIT)] {
set jlim [set ::JOINT_[set j](MIN_LIMIT)]
set clim [set ::AXIS_[set c](MIN_LIMIT)]
if {$jlim > $clim} {
if $missing_axis_min_limit {
lappend ::wmsg "Unspecified \[AXIS_$c\]MIN_LIMIT, default used: $::DEFAULT_AXIS_MIN_LIMIT"
}
lappend emsg "\[JOINT_$j\]MIN_LIMIT > \[AXIS_$c\]MIN_LIMIT ($jlim > $clim)"
}
}
if [info exists ::JOINT_[set j](MAX_LIMIT)] {
set jlim [set ::JOINT_[set j](MAX_LIMIT)]
set clim [set ::AXIS_[set c](MAX_LIMIT)]
if {$jlim < $clim} {
if $missing_axis_max_limit {
lappend ::wmsg "Unspecified \[AXIS_$c\]MAX_LIMIT, default used: $::DEFAULT_AXIS_MAX_LIMIT"
}
lappend emsg "\[JOINT_$j\]MAX_LIMIT < \[AXIS_$c\]MAX_LIMIT ($jlim < $clim)"
}
}
}
}
return $emsg
} ;# validate_identity_kins_limits
proc check_extrajoints {} {
if ![info exists ::EMCMOT(EMCMOT)] return
if {[string first motmod $::EMCMOT(EMCMOT)] <= 0} return
set mot [split [lindex $::EMCMOT(EMCMOT) 0]]
foreach item $mot {
set pair [split $item =]
set parm [lindex $pair 0]
set val [lindex $pair 1]
if {"$parm" == "num_extrajoints"} {
set ::num_extrajoints $val
}
}
if [info exists ::num_extrajoints] {
lappend ::wmsg [format "Extra joints specified=%d\n \
\[KINS\]JOINTS=%d must accommodate kinematic joints *plus* extra joints " \
$::num_extrajoints $::KINS(JOINTS)]
}
} ;#check_extrajoints
proc warn_for_multiple_ini_values {} {
set sections [info globals]
set sections_to_check {JOINT_ AXIS_}
foreach section $sections {
set enforce 0
foreach csection $sections_to_check {
if {[string first $csection $section"] >= 0} {
set enforce 1
break
}
}
if !$enforce continue
foreach name [array names ::$section] {
set gsection ::$section
set val [set [set gsection]($name)]
set len [llength $val]
if {$len > 1} {
lappend ::wmsg "Unexpected multiple values \[$section\]$name: $val"
}
}
}
} ;# warn_for_multiple_ini_values
#----------------------------------------------------------------------
# begin
package require Linuxcnc ;# parse_ini
set ::progname [file rootname [file tail [info script]]]
set inifile [lindex $::argv 0]
if ![file exists $inifile] {
err_exit [list "No such file <$inifile>"]
}
if ![file readable $inifile] {
err_exit [list "File not readable <$inifile>"]
}
parse_ini $inifile
check_mandatory_items
set kins_kinematics [lindex $::KINS(KINEMATICS) end]
set ::kins(module) [lindex $kins_kinematics 0]
# parameters specified as parm=value --> ::kins(parm)=value
foreach item $kins_kinematics {
if {[string first = $item] >= 0} {
set l [split $item =]
set ::kins([lindex $l 0]) [lindex $l 1]
} else {
if {"$item" != $::kins(module)} {
puts "Unknown \[KINS\]KINEMATICS item: <$item>"
}
}
}
# coordinates --> ::kins(coordinates) (all if not specified)
if [info exists ::kins(coordinates)] {
set ::kins(coordinates) [split $::kins(coordinates) ""]
set ::kins(coordinates) [string toupper $::kins(coordinates)]
} else {
set ::kins(coordinates) {X Y Z A B C U V W}
}
# list of joints for each coord --> ::kins(jointidx,coordinateletter)
switch $::kins(module) {
trivkins {joints_for_trivkins $::kins(coordinates)}
default {
puts "$::progname: Unchecked: \[KINS\]KINEMATICS=$::KINS(KINEMATICS)"
exit 0
}
}
check_extrajoints
warn_for_multiple_ini_values
#parray ::kins
set emsg [validate_identity_kins_limits]
consistent_coords_for_trivkins $::kins(coordinates)
if [info exists ::wmsg] {warnings $::wmsg}
if {"$emsg" == ""} {exit 0}
err_exit $emsg

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_xyz_constraints.hal Executable file
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# HAL config file to check vel/acc constraints
#
loadrt wcomp names=wcomp_xacc,wcomp_xvel,wcomp_yacc,wcomp_yvel,wcomp_zacc,wcomp_zvel
addf wcomp_xacc servo-thread
addf wcomp_xvel servo-thread
addf wcomp_yacc servo-thread
addf wcomp_yvel servo-thread
addf wcomp_zacc servo-thread
addf wcomp_zvel servo-thread
net Xacc => wcomp_xacc.in
net Xvel => wcomp_xvel.in
net Yacc => wcomp_yacc.in
net Yvel => wcomp_yvel.in
net Zacc => wcomp_zacc.in
net Zvel => wcomp_zvel.in
net acc-ok-x <= wcomp_xacc.out
net vel-ok-x <= wcomp_xvel.out
net acc-ok-y <= wcomp_yacc.out
net vel-ok-y <= wcomp_yvel.out
net acc-ok-z <= wcomp_zacc.out
net vel-ok-z <= wcomp_zvel.out
setp wcomp_xacc.max 50.001
setp wcomp_xacc.min -50.001
setp wcomp_xvel.max 5.001
setp wcomp_xvel.min -5.001
setp wcomp_yacc.max 50.001
setp wcomp_yacc.min -50.001
setp wcomp_yvel.max 5.001
setp wcomp_yvel.min -5.001
setp wcomp_zacc.max 50.001
setp wcomp_zacc.min -50.001
setp wcomp_zvel.max 5.001
setp wcomp_zvel.min -5.001
loadrt match8 names=match_all
addf match_all servo-thread
net acc-ok-x => match_all.a0
setp match_all.b0 1
net vel-ok-x => match_all.a1
setp match_all.b1 1
net acc-ok-y => match_all.a2
setp match_all.b2 1
net vel-ok-y => match_all.a3
setp match_all.b3 1
net acc-ok-z => match_all.a4
setp match_all.b4 1
net vel-ok-z => match_all.a5
setp match_all.b5 1
setp match_all.a6 0
setp match_all.a7 0
setp match_all.b6 0
setp match_all.b7 0
setp match_all.in 1
net constraints-ok <= match_all.out

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_servo.hal Executable file
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# core HAL config file for servos
# first load the core RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# PID module, for three PID loops
loadrt pid num_chan=3
# hook functions to realtime thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
# connect position feedback
net Xpos-fb joint.0.motor-pos-fb => pid.0.feedback
net Ypos-fb joint.1.motor-pos-fb => pid.1.feedback
net Zpos-fb joint.2.motor-pos-fb => pid.2.feedback
# create PID to DAC output signals
net Xoutput <= pid.0.output
net Youtput <= pid.1.output
net Zoutput <= pid.2.output
# set PID loop output limits to +/-1.00
setp pid.0.maxoutput [JOINT_0]MAX_VELOCITY
setp pid.1.maxoutput [JOINT_1]MAX_VELOCITY
setp pid.2.maxoutput [JOINT_2]MAX_VELOCITY
# set PID loop gains from INI file
# the values below come from the INI
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
# deadband should be just over 1 count
setp pid.0.deadband [JOINT_0]DEADBAND
setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
# deadband should be just over 1 count
setp pid.1.deadband [JOINT_1]DEADBAND
setp pid.2.Pgain [JOINT_2]P
setp pid.2.Igain [JOINT_2]I
setp pid.2.Dgain [JOINT_2]D
setp pid.2.bias [JOINT_2]BIAS
setp pid.2.FF0 [JOINT_2]FF0
setp pid.2.FF1 [JOINT_2]FF1
setp pid.2.FF2 [JOINT_2]FF2
# deadband should be just over 1 count
setp pid.2.deadband [JOINT_2]DEADBAND
# position command signals
net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command
net Ypos-cmd joint.1.motor-pos-cmd => pid.1.command
net Zpos-cmd joint.2.motor-pos-cmd => pid.2.command
# joint enable signals
net Xenable joint.0.amp-enable-out => pid.0.enable
net Yenable joint.1.amp-enable-out => pid.1.enable
net Zenable joint.2.amp-enable-out => pid.2.enable

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim.hal Executable file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim9.hal Executable file
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#!!! DECLINING USAGE use: HALFILE=LIB:basic_sim.tcl to automatically
#!!! make the components and connections required for sim configs
# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# load 6 differentiators (for velocity and accel signals
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# load additional blocks
loadrt hypot names=vel_xy,vel_xyz
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
addf vel_xy servo-thread
addf vel_xyz servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
net Cpos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
net Upos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
net Vpos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
net Wpos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
net Zacc <= ddt_zv.out
# Cartesian 2- and 3-axis velocities
net XYvel vel_xy.out => vel_xyz.in1
net XYZvel <= vel_xyz.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

53
linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_stepper.hal Executable file
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# core HAL config file for steppers
# first load the core RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# stepper module, three step generators, all three using step/dir
loadrt stepgen step_type=0,0,0
# hook functions to base thread (high speed thread for step generation)
addf stepgen.make-pulses base-thread
# hook functions to servo thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
# connect position commands from motion module to step generator
net Xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net Ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net Zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
# connect position feedback from step generators
# to motion module
net Xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net Ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net Zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
# connect enable signals for step generators
net Xen joint.0.amp-enable-out => stepgen.0.enable
net Yen joint.1.amp-enable-out => stepgen.1.enable
net Zen joint.2.amp-enable-out => stepgen.2.enable
# connect signals to step pulse generator outputs
net Xstep <= stepgen.0.step
net Xdir <= stepgen.0.dir
net Ystep <= stepgen.1.step
net Ydir <= stepgen.1.dir
net Zstep <= stepgen.2.step
net Zdir <= stepgen.2.dir
# set stepgen module scaling - get values from INI file
setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.2.position-scale [JOINT_2]SCALE
# set stepgen module accel limits - get values from INI file
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL

35
linuxcnc/sim.gmoccapy.lathe_configs/hallib/gantrysim.hal Executable file
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loadrt [KINS]KINEMATICS
show comp
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
net J3pos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
# estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
# amp control - these nets are not used, but are placeholders for
# converting this sample config to actual machines
net J0ena <= joint.0.amp-enable-out
net J1ena <= joint.1.amp-enable-out
net J2ena <= joint.2.amp-enable-out
net J3ena <= joint.3.amp-enable-out
net J0flt => joint.0.amp-fault-in
net J1flt => joint.1.amp-fault-in
net J2flt => joint.2.amp-fault-in
net J3flt => joint.3.amp-fault-in

190
linuxcnc/sim.gmoccapy.lathe_configs/hallib/hal_procs_lib.tcl Executable file
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# hal_procs_lib.tcl
package require Hal ;# provides hal commands
proc pin_exists {name} {
# return 1 if pin exists
if { [lindex [hal list pin "$name"] 0] == "$name"} {return 1}
return 0
} ;# pin_exists
proc connection_info {result_name pinname } {
# return 0 if pinname not found, else 1
# result_name is associative array with details
# owner type direction value separator signame
upvar $result_name ay
set ans [hal show pin $pinname]
set lines [split $ans \n]
set sig ""
set sep ""
set ct [scan [lindex $lines 2] "%s %s %s %s %s %s %s" \
owner type dir val name sep sig]
if {$ct <0} {
return 0
}
set ay(owner) $owner
set ay(type) $type
set ay(direction) $dir
set ay(value) $val
set ay(separator) $sep
set ay(signame) $sig
return 1
} ;# connection_info
proc is_connected {pinname {signame {} } } {
# return is_input or is_output or is_io or not_connected
# set signame to signal name if connected
upvar $signame thesig
set ans [hal show pin $pinname]
set lines [split $ans \n]
set thesig ""
set sep ""
set ct [scan [lindex $lines 2] "%s %s %s %s %s %s %s" \
owner type dir val name sep thesig]
if {$ct <0} {return not_connected}
if {"$sep" == "<=="} {return is_input}
if {"$sep" == "==>"} {return is_output}
if {"$sep" == "<=>"} {return is_io}
return "not_connected"
} ;# is_connected
proc thread_info {ay_name} {
# return details about threads in associative array ay_name
# items for each $threadname:
# ($threadname,$componentname) $threadname index for $componentname
# ($threadname,fp) $threadname uses floatingpoint
# ($threadname,period) $threadname period
# ($threadname,index,last) $threadname last index used
#
# motion specific items:
# (motion-command-handler,threadname) threadname
# (motion-command-handler,index) index
# (motion-controller,threadname) threadname
# (motion-controller,index) index
# other:
# (threadnames) list of all threanames
#
# return string is $ay(motion-controller,threadname)
upvar $ay_name ay
set ans [hal show thread]
set lines [split $ans \n]
set header_len 2
set lines [lreplace $lines 0 [expr $header_len -1]]
set lines [lreplace $lines end end]
set remainder ""
set ct 0
foreach line $lines {
catch {unset f1 f2 f3 f4}
scan [lindex $lines $ct] \
"%s %s %s %s" \
f1 f2 f3 f4
if ![info exists f3] {
set index $f1; set compname $f2
set ay($threadname,$compname) $index
set ay($threadname,index,last) $index
if {"$compname" == "motion-command-handler"} {
set ay(motion-command-handler,threadname) $threadname
set ay(motion-command-handler,index) $index
}
if {"$compname" == "motion-controller"} {
set ay(motion-controller,threadname) $threadname
set ay(motion-controller,index) $index
}
} else {
set period $f1; set fp $f2; set threadname $f3
lappend ay(threadnames) $threadname
set ay($threadname,fp) $fp
set ay($threadname,period) $period
}
incr ct
}
if [info exists ay(motion-controller,threadname)] {
if [info exists ay(motion-command-handler,threadname)] {
if { "$ay(motion-controller,threadname)" \
!= "$ay(motion-command-handler,threadname)" \
} {
return -code error "thread_info: mot funcs on separate threads"
if { $ay(motion-command-handler,index) \
> $ay(motion-controller,index) \
} {
return -code error "thread_info: mot funcs OUT-OF-SEQUENCE"
}
}
return $ay(motion-controller,threadname)
} else {
return -code error "thread_info: motion-controller not found"
}
}
} ;# thread_info
proc get_netlist {inpins_name outpin_name iopins_name signame} {
# input: signame
# outputs:
# inpins_name list of input pins for signame or ""
# iopins_name list of io pins for signame or ""
# outpin_name output pin for signame or ""
upvar $inpins_name inpins
upvar $iopins_name iopins
upvar $outpin_name outpin
set inpins ""
set iopins ""
set outpin ""
set header_len 2
set lines [split [hal show signal $signame] \n]
set lines [lreplace $lines 0 [expr $header_len -1]]
set lines [lreplace $lines end end]
set ct 0
foreach line $lines {set l($ct) [string trim $line];incr ct}
set ct_max $ct
set ct 0
for {set ct 0} {$ct < $ct_max} {incr ct} {
set v0 [lindex $l($ct) 0]
set v1 [lindex $l($ct) 1]
set v2 [lindex $l($ct) 2]
switch $v0 {
float -
bit -
u32 -
s32 {set sname $v2} ;# set on 1st non-header line
"==>" {}
"<==" {}
"<=>" {}
* {return -code error "get_netlist: Unexpected <$line">}
}
if {"$signame"=="$sname"} {
switch $v0 {
"==>" {lappend inpins $v1}
"<==" {lappend outpin $v1}
"<=>" {lappend iopins $v1}
}
}
}
} ;# get_netlist
proc find_file_in_hallib_path {filename {inifile .}} {
# find halfile using path HALLIB_PATH=.:HALLIB_DIR (see scripts/linuxcnc.in)
set libtag LIB: ;# special prefix for explicit use of hallib file
set halname [lindex $filename end]
if {[string first "$libtag" $halname] == 0} {
# explicit $libtag used
set halname [string range $halname [string len $libtag] end]
set usehalname [file join $::env(HALLIB_DIR) $halname]
} else {
if {[file pathtype $filename] == "absolute"} {
set usehalname $filename
} else {
# relative file specifier (relative to INI file directory)
set usehalname [file join [file dirname $inifile] $halname]
if ![file readable $usehalname] {
# use ::env(HALLIB_DIR)
set usehalname [file join $::env(HALLIB_DIR) $halname]
}
}
}
if [file readable $usehalname] {
return $usehalname
}
return -code error "find_file_in_hallib_path: cannot find: <$filename>"
} ;# find_file_in_hallib_path

171
linuxcnc/sim.gmoccapy.lathe_configs/hallib/halcheck.tcl Executable file
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# halcheck.tcl: a halfile to report:
# 1) functions with no addf (usually an error)
# 2) signals with no inputs (not an error)
# 3) signals with no output (not an error)
#
# Usage in INI file (must be the last HALFILE):
# [HAL]
# ...
# HALFILE = LIB:halcheck.tcl
#
# Note: connections in a POSTGUI_HALFILE are not checked
#
# config items:
set ::popup 1 ;# default: enable popup (in addition to prints)
set ::bigfont {Helvetica 12 bold} ;# {Family size weight}
#----------------------------------------------------------------------
set ::prog halcheck
# test for ::argv items on halfile line (requires 2.7)
if [info exists ::argv] {
if {[lsearch $::argv nopopup] >= 0} {
set ::popup 0 ;# disable popup
}
}
#----------------------------------------------------------------------
proc gui_message { type items } {
if { "$items" == "" } return
# twopass processing uses built-ins only (no Tk)
if {$::popup && [catch {package require Tk} msg]} {
set ::popup 0
}
if { !$::popup } return
if { ![winfo exists .b] } {
wm title . "HAL checks"
pack [button .b \
-text Dismiss \
-command {destroy .} \
] -side bottom
}
set items [string map {" " \n} $items]
switch $type {
no_addfs {
pack [label .noa1 \
-text "Functions with no addf: " \
-font $::bigfont \
-relief ridge -bd 3 \
] -side top -fill x -expand 1
pack [label .noa2 \
-text "$items" \
-justify left \
-anchor w \
-relief sunken -bd 3 \
] -side top -fill x -expand 1
}
no_inputs {
pack [label .noi1 \
-text "Signals with no inputs: " \
-font $::bigfont \
-relief ridge -bd 3 \
] -side top -fill x -expand 1
pack [label .noi2 \
-text "$items" \
-justify left \
-anchor w \
-relief sunken -bd 3 \
] -side top -fill x -expand 1
}
no_output {
pack [label .noo1 \
-text "Signals with no output: " \
-font $::bigfont \
-relief ridge -bd 3 \
] -side top -fill x -expand 1
pack [label .noo2 \
-text "$items" \
-justify left \
-anchor w \
-relief sunken -bd 3 \
] -side top -fill x -expand 1
}
}
} ;# gui_message
proc check_function_usage {} {
set ans [hal show function]
set lines [split $ans \n]
set header_len 2
set lines [lreplace $lines 0 [expr $header_len -1]]
set lines [lreplace $lines end end]
set ct 0
set no_addfs ""
foreach line $lines {
catch {unset f1 f2 f3 f4}
scan [lindex $lines $ct] \
"%s %s %s %s %s %s" \
owner codeaddr arg fp users name
if {"$users" == 0} {
puts "$::prog: Functions with no addf: $name"
lappend no_addfs $name
}
incr ct
}
gui_message no_addfs $no_addfs
} ;# check_function_usage
proc check_signal_usage {} {
set ans [hal show signal]
set lines [split $ans \n]
set header_len 2
set lines [lreplace $lines 0 [expr $header_len -1]]
set lines [lreplace $lines end end]
set ct 0
foreach line $lines {
set howmany [scan $line "%s%s%s" fld1 fld2 fld3]
if {$howmany == 3} {
set signame $fld3
set ::SIG($signame,type) $fld1
set ::SIG($signame,value) $fld2
set ::SIG($signame,inputs) ""
set ::SIG($signame,output) ""
set ::SIG($signame,ios) ""
continue
}
switch $fld1 {
"==>" {lappend ::SIG($signame,inputs) $fld2}
"<==" {lappend ::SIG($signame,output) $fld2}
"<=>" {lappend ::SIG($signame,ios) $fld2}
default {return -code error "check-signal_usage: unrecognized <$line>"}
}
incr ct
}
set no_inputs ""
foreach iname [array names ::SIG *,inputs] {
set signame [lindex [split $iname ,] 0]
if {$::SIG($iname) == ""} {
set msg "$::prog: Signal: $signame <$::SIG($signame,value)> NO inputs"
if {$::SIG($signame,ios) != ""} {
set msg "$msg (i/o:$::SIG($signame,ios))"
} else {
lappend no_inputs $signame
}
puts "$msg"
}
}
set no_output ""
foreach oname [array names ::SIG *,output] {
set signame [lindex [split $oname ,] 0]
if {$::SIG($oname) == ""} {
set msg "$::prog: Signal: $signame <$::SIG($signame,value)> NO output"
if {$::SIG($signame,ios) != ""} {
set msg "$msg (i/o:$::SIG($signame,ios))"
} else {
lappend no_output $signame
}
puts "$msg"
}
}
foreach iname [array names ::SIG *,ios] {
if { $::SIG($iname) == ""} {unset ::SIG($iname)}
}
gui_message no_inputs $no_inputs
gui_message no_output $no_output
} ;# check_signal_usage
#----------------------------------------------------------------------
# begin
check_function_usage
check_signal_usage

316
linuxcnc/sim.gmoccapy.lathe_configs/hallib/hookup_moveoff.tcl Executable file
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# hallib procs:
source [file join $::env(HALLIB_DIR) hal_procs_lib.tcl]
#
# hookup_moveoff.tcl -- HALFILE to:
# 1) disconnect initial pos-cmd and pos-fb pin connections
# 2) loadrt the moveoff component with name=mv
# 3) addf the moveoff component functions in required sequence
# 4) reconnect the pos-cmd and pos-fb pins to use the component
#
# Support for demo type INI files where the pos-cmd and pos-fb pins are
# 'shortcircuit' connected together is included.
#
# The moveoff component may be initialized with settings from the INI file
#
# Usage:
# 1) Specify this file in the INI file as [HAL]HALFILE
# Its position must follow halfiles that connect the pos-cmd and
# pos-fb pins.
# [HAL]
# ...
# HALFILE = hookup_moveoff.tcl
# ...
#
# 2) Include INI file entries for moveoff component settings:
# [MOVEOFF]
# EPSILON =
# WAYPOINT_SAMPLE_SECS =
# WAYPOINT_THRESHOLD =
# BACKTRACK_ENABLE =
#
# If these settings are not found in the INI file, the moveoff
# component defaults will be used.
#
# 3) Include INI file entries for the per-joint settings
# [MOVEOFF_n]
# MAX_VELOCITY =
# MAX_ACCELERATION =
# MAX_LIMIT =
# MIN_LIMIT =
#
# If settings are not found in the INI file, the items
# [JOINT_n]
# MAX_VELOCITY =
# MAX_ACCELERATION =
# MAX_LIMIT =
# MIN_LIMIT =
# are used. If these are not defined, the moveoff component
# defaults are used.
#
# To use the (optional) demonstration gui named moveoff_gui,
# include an INI entry:
#
# [APPLICATIONS]
# APP = moveoff_gui option1 option2 ...
#
# For available options, Use:
# $ moveoff_gui --help
#
# The moveoff_gui will provide a display and control for
# enabling offsetting if the pin mv.move-enable is not connected
# when moveoff_gui is started.
#
# If the mv.move-enable pin is connected when moveoff_gui
# is started, then it will provide a display but no control.
# This mode supports hal connections for a jog wheel or other
# methods of controlling the offset input pins (mv.offset-M)
#-----------------------------------------------------------------------
# Copyright: 2014
# Authors: Dewey Garrett <dgarrett@panix.com>
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
#-----------------------------------------------------------------------
proc do_hal {args} {
if {[info exists ::noexecute] && $::noexecute} {
puts "((do_hal))$args"
} else {
if {$::HU(verbose)} {puts do_hal:$args}
eval hal $args
}
} ;# do_hal
proc setup_pinnames {} {
# Note: works for standard names but a custom proc is needed
# here if the Hal alias command is used on the names
# Identify JOINT_n stanzas
for {set a 0} {$a < 9} {incr a} {
if [info exists ::JOINT_[set a](TYPE)] {
lappend ::HU(axes) $a
set ::HU(highest_joint_num) $a
}
}
foreach a $::HU(axes) {
set ::HU($a,pos,pinname) joint.${a}.motor-pos-cmd
set ::HU($a,fb,pinname) joint.${a}.motor-pos-fb
}
} ;# setup_pinnames
proc install_moveoff {} {
# note expected name for moveoff_gui is $::m
set pnumber [expr 1 + $::HU(highest_joint_num)]
do_hal loadrt moveoff personality=$pnumber names=$::m
set mot_thread $::HU(motion-controller,threadname)
if [info exists ::HU($mot_thread,motion-controller)] {
set write_index [expr 1 + $::HU($mot_thread,motion-controller)]
} else {
set write_index [expr 1 + $::HU($mot_thread,index,last)]
}
do_hal addf $::m.write-outputs $mot_thread $write_index
if [info exists ::HU($mot_thread,motion-command-handler)] {
if {1 == $::HU($mot_thread,motion-command-handler) } {
set read_index 1
} else {
set read_index [expr -1 + $::HU($mot_thread,motion-command-handler)]
}
} else {
set read_index 1
}
do_hal addf $::m.read-inputs $mot_thread $read_index
} ;# install_moveoff
proc disconnect_pos_from_motion {a} {
set pinname $::HU($a,pos,pinname)
set inpins {}; set outpin {}
if [connection_info tmp $pinname] {
if {$tmp(signame) != ""} {
get_netlist inpins outpin iopins $tmp(signame)
set ::HU($a,pos,signame) $tmp(signame)
set ::HU($a,pos,inputs) $inpins
set ::HU($a,pos,output) $outpin
}
} else {
return -code error "<$pinname> not connected as expected"
}
do_hal unlinkp $pinname
} ;# disconnect_pos_from_motion
proc disconnect_fb_to_motion {a} {
set pinname $::HU($a,fb,pinname)
set inpins {}; set outpin {}
if [connection_info tmp $pinname] {
if {$tmp(signame) != ""} {
get_netlist inpins outpin iopins $tmp(signame)
set ::HU($a,fb,signame) $tmp(signame)
set ::HU($a,fb,inputs) $inpins
set ::HU($a,fb,output) $outpin
}
} else {
return -code error "<$pinname> not connected as expected"
}
do_hal unlinkp $pinname
} ;# disconnect_fb_to_motion
proc check_for_short_circuit {a} {
if {$::HU($a,fb,signame) == $::HU($a,pos,signame)} {
set ::HU($a,shortcircuit) 1
} else {
set ::HU($a,shortcircuit) 0
}
} ;# check_for_short_circuit
proc new_connect_pos_to_moveoff {a} {
do_hal delsig $::HU($a,pos,signame)
do_hal net hu:pos-$a <= $::HU($a,pos,pinname)
do_hal net hu:pos-$a => $::m.pos-$a
} ;# new_connect_pos_to_moveoff
proc new_connect_plus_offset {a} {
if $::HU($a,shortcircuit) return
do_hal net hu:plus-$a <= $::m.pos-plusoffset-$a
foreach in_pinname $::HU($a,pos,inputs) {
if {"$in_pinname" == "$::HU($a,fb,pinname)"} continue
do_hal unlinkp $in_pinname
do_hal net hu:plus-$a => $in_pinname
}
} ;# new_connect_plus_offset
proc new_connect_minus_offset {a} {
do_hal net hu:minus-$a <= $::m.fb-minusoffset-$a
do_hal net hu:minus-$a => $::HU($a,fb,pinname)
} ;# new_connect_plus_offset
proc new_connect_fb_to_moveoff {a} {
if $::HU($a,shortcircuit) return
do_hal delsig $::HU($a,fb,signame)
do_hal net hu:fb-$a => $::m.fb-$a
do_hal net hu:fb-$a <= $::HU($a,fb,output)
foreach in_pinname $::HU($a,fb,inputs) {
if {"$in_pinname" == "$::HU($a,fb,pinname)"} continue
do_hal unlinkp $in_pinname
do_hal net hu:fb-$a => $in_pinname
}
} ;# new_connect_fb_to_moveoff
proc reconnect_short_circuit {a} {
do_hal net hu:shortcircuit-$a <= $::m.pos-plusoffset-$a
do_hal net hu:shortcircuit-$a => $::m.fb-$a
foreach in_pinname $::HU($a,pos,inputs) {
if {"$in_pinname" == "$::HU($a,fb,pinname)"} {continue}
do_hal unlinkp $in_pinname
do_hal net hu:shortcircuit-$a => $in_pinname
}
} ;# reconnect_short_circuit
proc set_moveoff_inputs {a} {
foreach {pin ininame} { offset-vel MAX_VELOCITY \
offset-accel MAX_ACCELERATION \
offset-max MAX_LIMIT \
offset-min MIN_LIMIT \
} {
if [info exists ::MOVEOFF_[set a]($ininame)] {
set ::HU($a,$pin) [set ::MOVEOFF_[set a]($ininame)]
# lindex is used in case there are duplicate entries
set ::HU($a,$pin) [lindex $::HU($a,$pin) end]
} elseif { [info exists ::JOINT_[set a]($ininame)] } {
set ::HU($a,$pin) [set ::JOINT_[set a]($ininame)]
# lindex is used in case there are duplicate entries
set ::HU($a,$pin) [lindex $::HU($a,$pin) end]
puts "hookup_moveoff.tcl:use \[JOINT_$a\]$ininame=$::HU($a,$pin)"
}
if [info exists ::HU($a,$pin)] {
do_hal setp $::m.$pin-$a $::HU($a,$pin)
}
}
} ;# set_moveoff_inputs
proc set_moveoff_parms {} {
foreach {pin ininame} { epsilon EPSILON \
waypoint-sample-secs WAYPOINT_SAMPLE_SECS \
waypoint-threshold WAYPOINT_THRESHOLD \
backtrack-enable BACKTRACK_ENABLE \
} {
if {[info exists ::MOVEOFF($ininame)]} {
# lindex is used in case there are duplicate entries
set ::HU($pin) [lindex $::MOVEOFF($ininame) end]
do_hal setp $::m.$pin $::HU($pin)
}
}
} ;# set_moveoff_parms
proc set_moveoff_controls {} {
return
# provision for future offset control connections
} ;# set_moveoff_controls
# begin-----------------------------------------------------------------
set ::m mv ;# moveoff component name
#(must agree with the (optionaL) gui moveoff_gui)
# debugging items
set ::HU(verbose) 0
set ::noexecute 0
# Provision for twopass compatibility
# (::tp is the namespace for [HAL]TWOPASS processing)
if [namespace exists ::tp] {
set passno [::tp::passnumber]
if {$passno == 0} {
# With twopass processing, the initial pass0 only collects
# loadrt and loadusr commands with no execution.
# So the checks etc herein cannot work until pass1
# Note that this file only uses loadrt once for the moveoff
# component so it manages its loadrt exclusively
puts "hookup_moveoff.tcl: twopass active, pass $passno skipped"
return
} else {
puts "hookup_moveoff.tcl: twopass active, pass $passno active"
}
}
if [catch {
set ::HU(cmd) "thread_info ::HU"; eval $::HU(cmd)
set ::HU(cmd) setup_pinnames; eval $::HU(cmd)
set ::HU(cmd) install_moveoff; eval $::HU(cmd)
foreach a $::HU(axes) {
set ::HU(cmd) "disconnect_pos_from_motion $a"; eval $::HU(cmd)
set ::HU(cmd) "disconnect_fb_to_motion $a"; eval $::HU(cmd)
set ::HU(cmd) "check_for_short_circuit $a"; eval $::HU(cmd)
set ::HU(cmd) "new_connect_pos_to_moveoff $a"; eval $::HU(cmd)
set ::HU(cmd) "new_connect_plus_offset $a"; eval $::HU(cmd)
set ::HU(cmd) "new_connect_minus_offset $a"; eval $::HU(cmd)
set ::HU(cmd) "new_connect_fb_to_moveoff $a"; eval $::HU(cmd)
if $::HU($a,shortcircuit) {
set ::HU(cmd) "reconnect_short_circuit $a "; eval $::HU(cmd)
}
set ::HU(cmd) "set_moveoff_inputs $a"; eval $::HU(cmd)
}
set ::HU(cmd) "set_moveoff_parms"; eval $::HU(cmd)
set ::HU(cmd) "set_moveoff_controls"; eval $::HU(cmd)
if $::HU(verbose) {parray ::HU}
} msg ] {
puts "\n\n$::argv0 $::argv"
parray ::HU
catch {puts filename=$filename}
puts "\n failing cmd=$::HU(cmd)"
puts msg=<$msg>
return -code error
}

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/lathe.hal Executable file
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# counting the spindle encoder in software
loadrt encoder names=encoder_0
# simulate the encoder
loadrt sim_encoder names=sim_encoder_0
loadrt limit2 names=limit_speed
addf limit_speed servo-thread
#######################################################
# Beginning of threading related stuff
#######################################################
# spindle speed control
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in
net spindle-speed-limited limit_speed.out => sim_encoder_0.speed
# simulate spindle mass
setp limit_speed.maxv 500.0 # rpm/second
# spindle encoder
# connect encoder signals to encoder counter
net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z
# assume 120 ppr = 480 counts/rev for the spindle
setp sim_encoder_0.ppr 120
# iocontrol output is in rpm, but sim-encoder speed is rps
setp sim_encoder_0.scale 60
# scale encoder output to read in revolutions
# (that way thread pitches can be straightforward,
# a 20 tpi thread would multiply the encoder output
# by 1/20, etc)
setp encoder_0.position-scale 480
# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable spindle.0.index-enable <=> encoder_0.index-enable
# report our revolution count to the motion controller
net spindle-pos encoder_0.position => spindle.0.revs
# for spindle velocity estimate
loadrt lowpass names=lowpass_velocity
loadrt scale names=scale_to_rpm
net spindle-rps-raw encoder_0.velocity lowpass_velocity.in
net spindle-rps-filtered lowpass_velocity.out scale_to_rpm.in spindle.0.speed-in
net spindle-rpm-filtered scale_to_rpm.out
setp scale_to_rpm.gain 60
setp lowpass_velocity.gain .07
addf lowpass_velocity servo-thread
addf scale_to_rpm servo-thread
# for at-speed detection
loadrt near names=near_speed
addf near_speed servo-thread
setp near_speed.scale 1.1
setp near_speed.difference 10
net spindle-speed-cmd => near_speed.in1
net spindle-rpm-filtered => near_speed.in2
net spindle-at-speed near_speed.out spindle.0.at-speed
net spindle-fwd <= spindle.0.forward
addf encoder.capture-position servo-thread
addf sim-encoder.update-speed servo-thread
addf sim-encoder.make-pulses base-thread
addf encoder.update-counters base-thread

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/locking_indexer.hal Executable file
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# simulate a locking rotary axis B
loadrt timedelay names=timedelay_unlock
addf timedelay_unlock servo-thread
net B-unlock joint.4.unlock => timedelay_unlock.in
net B-is-unlocked timedelay_unlock.out => joint.4.is-unlocked
setp timedelay_unlock.on-delay 0.75
setp timedelay_unlock.off-delay 0.5

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/moveoff_external.hal Executable file
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# moveoff_external.hal (for use with moveoff_gui)
# This halfile demonstrates how a connection to
# mv.move-enable
# allows moveoff_gui to interface with other connections that control:
# mv.move-enable
# mv.offset-in-M
# This halfile should follow halfiles which loadrt the moveoff component
#-----------------------------------------------------------------------
# Overall enable for the component:
# 0 ==> external control of mv.move-enable required
setp mv.move-enable 0
# When the mv.move-enable pin is connected to a signal, moveoff_gui
# will provide display but no controls.
# An external app must connect the mv.move-enable pin to control:
net external_enable mv.move-enable
# An external app must connect to the mv.offset-in-M pins to control:
net external_offset_0 mv.offset-in-0
net external_offset_1 mv.offset-in-1
net external_offset_2 mv.offset-in-2
# An external app may optionally connect the mv.backtrack-enable pin
# to manage backtracking:
net external_backtrack_en mv.backtrack-enable

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/plasmac.tcl Executable file
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# ***** THIS FILE IS USED ONLY BY CONFIGS THAT HAVE BEEN MIGRATED FROM A PLASMAC CONFIGURATION *****
# common connections for the plasmac component
# PLASMAC COMPONENT ##########################################################
loadrt plasmac
addf plasmac servo-thread
# COMPONENT INPUTS ###########################################################
net plasmac:axis-x-position axis.x.pos-cmd => plasmac.axis-x-position
net plasmac:axis-y-position axis.y.pos-cmd => plasmac.axis-y-position
net plasmac:current-velocity motion.current-vel => plasmac.current-velocity
net plasmac:cutting-start spindle.0.on => plasmac.cutting-start
net plasmac:feed-override halui.feed-override.value => plasmac.feed-override
net plasmac:feed-reduction motion.analog-out-03 => plasmac.feed-reduction
net plasmac:feed-upm motion.feed-upm => plasmac.feed-upm
net plasmac:homed motion.is-all-homed => plasmac.homed
net plasmac:ignore-arc-ok-0 motion.digital-out-01 => plasmac.ignore-arc-ok-0
net plasmac:motion-type motion.motion-type => plasmac.motion-type
net plasmac:offsets-active motion.eoffset-active => plasmac.offsets-active
net plasmac:program-is-idle halui.program.is-idle => plasmac.program-is-idle
net plasmac:program-is-paused halui.program.is-paused => plasmac.program-is-paused
net plasmac:program-is-running halui.program.is-running => plasmac.program-is-running
net plasmac:thc-disable motion.digital-out-02 => plasmac.thc-disable
net plasmac:torch-off motion.digital-out-03 => plasmac.torch-off
net plasmac:units-per-mm halui.machine.units-per-mm => plasmac.units-per-mm
net plasmac:x-offset-current axis.x.eoffset => plasmac.x-offset-current
net plasmac:y-offset-current axis.y.eoffset => plasmac.y-offset-current
net plasmac:z-offset-current axis.z.eoffset => plasmac.z-offset-current
# use existing machine-is-on signal from pncconf if it exists
if {[hal list sig machine-is-on] != {}} {
net machine-is-on => plasmac.machine-is-on
} else {
net machine-is-on halui.machine.is-on => plasmac.machine-is-on
}
# if no new dbounce then use old debounce component for legacy plasmac conversions
if {[hal list pin db_float.out] != {}} {
net plasmac:arc-ok db_arc-ok.out => plasmac.arc-ok-in
net plasmac:breakaway-switch-out db_breakaway.out => plasmac.breakaway
net plasmac:float-switch-out db_float.out => plasmac.float-switch
net plasmac:ohmic-probe-out db_ohmic.out => plasmac.ohmic-probe
} else {
net plasmac:breakaway-switch-out debounce.0.1.out => plasmac.breakaway
net plasmac:float-switch-out debounce.0.0.out => plasmac.float-switch
net plasmac:ohmic-probe-out debounce.0.2.out => plasmac.ohmic-probe
}
# COMPONENT OUTPUTS ##########################################################
net plasmac:adaptive-feed plasmac.adaptive-feed => motion.adaptive-feed
net plasmac:cutting-stop halui.spindle.0.stop => plasmac.cutting-stop
net plasmac:feed-hold plasmac.feed-hold => motion.feed-hold
net plasmac:jog-inhibit plasmac.jog-inhibit => motion.jog-inhibit motion.jog-stop
net plasmac:offset-scale plasmac.offset-scale => axis.x.eoffset-scale axis.y.eoffset-scale axis.z.eoffset-scale
net plasmac:program-pause plasmac.program-pause => halui.program.pause
net plasmac:program-resume plasmac.program-resume => halui.program.resume
net plasmac:program-run plasmac.program-run => halui.program.run
net plasmac:program-stop plasmac.program-stop => halui.program.stop
net plasmac:torch-on plasmac.torch-on
net plasmac:x-offset-counts plasmac.x-offset-counts => axis.x.eoffset-counts
net plasmac:y-offset-counts plasmac.y-offset-counts => axis.y.eoffset-counts
net plasmac:xy-offset-enable plasmac.xy-offset-enable => axis.x.eoffset-enable axis.y.eoffset-enable
net plasmac:z-offset-counts plasmac.z-offset-counts => axis.z.eoffset-counts
net plasmac:z-offset-enable plasmac.z-offset-enable => axis.z.eoffset-enable
# multiple spindles
if [info exists ::TRAJ(SPINDLES)] {
set num_spindles [lindex $::TRAJ(SPINDLES) 0]
if {$num_spindles > 1} {net plasmac:scribe-start spindle.1.on => plasmac.scribe-start}
if {$num_spindles > 2} {net plasmac:spotting-start spindle.2.on => plasmac.spotting-start}
}
# powermax serial communications
# for qtplasmac
if [info exists ::QTPLASMAC(PM_PORT)] {loadusr -Wn pmx485 pmx485 [lindex $::QTPLASMAC(PM_PORT) 0]}
# for plasmac
if [info exists ::PLASMAC(PM_PORT)] {loadusr -Wn pmx485 plasmac/pmx485.py [lindex $::PLASMAC(PM_PORT) 0]}

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/qtplasmac_comp.hal Executable file
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# ***** plasmac component connections for a QtPlasmaC configuration *****
# do not make any changes to this file, it may be overwritten by future updates
# make all customizations in custom.hal or custom_postgui.hal
# ---PLASMAC COMPONENT INPUTS---
net plasmac:arc-ok db_arc-ok.out => plasmac.arc-ok-in
net plasmac:axis-x-position axis.x.pos-cmd => plasmac.axis-x-position
net plasmac:axis-y-position axis.y.pos-cmd => plasmac.axis-y-position
net plasmac:breakaway-switch-out db_breakaway.out => plasmac.breakaway
net plasmac:current-velocity motion.current-vel => plasmac.current-velocity
net plasmac:cutting-start spindle.0.on => plasmac.cutting-start
net plasmac:cutting-stop halui.spindle.0.stop => plasmac.cutting-stop
net plasmac:feed-override halui.feed-override.value => plasmac.feed-override
net plasmac:feed-reduction motion.analog-out-03 => plasmac.feed-reduction
net plasmac:float-switch-out db_float.out => plasmac.float-switch
net plasmac:feed-upm motion.feed-upm => plasmac.feed-upm
net plasmac:homed motion.is-all-homed => plasmac.homed
net plasmac:ignore-arc-ok-0 motion.digital-out-01 => plasmac.ignore-arc-ok-0
net machine-is-on halui.machine.is-on => plasmac.machine-is-on
net plasmac:motion-type motion.motion-type => plasmac.motion-type
net plasmac:offsets-active motion.eoffset-active => plasmac.offsets-active
net plasmac:ohmic-probe-out db_ohmic.out => plasmac.ohmic-probe
net plasmac:program-is-idle halui.program.is-idle => plasmac.program-is-idle
net plasmac:program-is-paused halui.program.is-paused => plasmac.program-is-paused
net plasmac:program-is-running halui.program.is-running => plasmac.program-is-running
net plasmac:scribe-start spindle.1.on => plasmac.scribe-start
net plasmac:spotting-start spindle.2.on => plasmac.spotting-start
net plasmac:thc-disable motion.digital-out-02 => plasmac.thc-disable
net plasmac:torch-off motion.digital-out-03 => plasmac.torch-off
net plasmac:units-per-mm halui.machine.units-per-mm => plasmac.units-per-mm
net plasmac:x-offset-current axis.x.eoffset => plasmac.x-offset-current
net plasmac:y-offset-current axis.y.eoffset => plasmac.y-offset-current
net plasmac:z-offset-current axis.z.eoffset => plasmac.z-offset-current
# ---PLASMAC COMPONENT OUTPUTS---
net plasmac:adaptive-feed plasmac.adaptive-feed => motion.adaptive-feed
net plasmac:feed-hold plasmac.feed-hold => motion.feed-hold
net plasmac:jog-inhibit plasmac.jog-inhibit => motion.jog-inhibit motion.jog-stop
net plasmac:offset-scale plasmac.offset-scale => axis.x.eoffset-scale axis.y.eoffset-scale axis.z.eoffset-scale
net plasmac:program-pause plasmac.program-pause => halui.program.pause
net plasmac:program-resume plasmac.program-resume => halui.program.resume
net plasmac:program-run plasmac.program-run => halui.program.run
net plasmac:program-stop plasmac.program-stop => halui.program.stop
net plasmac:torch-on plasmac.torch-on
net plasmac:x-offset-counts plasmac.x-offset-counts => axis.x.eoffset-counts
net plasmac:y-offset-counts plasmac.y-offset-counts => axis.y.eoffset-counts
net plasmac:xy-offset-enable plasmac.xy-offset-enable => axis.x.eoffset-enable axis.y.eoffset-enable
net plasmac:z-offset-counts plasmac.z-offset-counts => axis.z.eoffset-counts
net plasmac:z-offset-enable plasmac.z-offset-enable => axis.z.eoffset-enable

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linuxcnc/sim.gmoccapy.lathe_configs/hallib/servo_sim.hal Executable file
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# HAL config file for simulated servo machine
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
# PID module, for three PID loops
loadrt pid names=pid_x,pid_y,pid_z
# 6 differentiators (for velocity and accel sigs)
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
# three scale blocks (to simulate motor and leadscrew scaling)
loadrt scale names=scale_x,scale_y,scale_z
# three lowpass filters (to simulate motor inertia), and nine
loadrt lowpass names=lowpass_x,lowpass_y,lowpass_z
# window comparators (to simulate limit and home switches)
loadrt wcomp names=wcomp_xneg,wcomp_xpos,wcomp_xhome,wcomp_yneg,wcomp_ypos,wcomp_yhome,wcomp_zneg,wcomp_zpos,wcomp_zhome
# simulated encoders
loadrt sim_encoder names=sim_encoder_px,sim_encoder_py,sim_encoder_pz
# software encoder counters, 3 for feedback, 3 for actual axis pos
loadrt encoder names=encoder_px,encoder_py,encoder_pz,encoder_x,encoder_y,encoder_z
# add encoder counter and simulator functions to high speed thread
addf sim-encoder.make-pulses base-thread
addf encoder.update-counters base-thread
# add all required functions to servo thread
addf encoder.capture-position servo-thread
addf wcomp_xneg servo-thread
addf wcomp_xpos servo-thread
addf wcomp_xhome servo-thread
addf wcomp_yneg servo-thread
addf wcomp_ypos servo-thread
addf wcomp_yhome servo-thread
addf wcomp_zneg servo-thread
addf wcomp_zpos servo-thread
addf wcomp_zhome servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid_x.do-pid-calcs servo-thread
addf pid_y.do-pid-calcs servo-thread
addf pid_z.do-pid-calcs servo-thread
addf scale_x servo-thread
addf scale_y servo-thread
addf scale_z servo-thread
addf lowpass_x servo-thread
addf lowpass_y servo-thread
addf lowpass_z servo-thread
addf sim-encoder.update-speed servo-thread
# link the differentiator functions into the code
addf ddt_x servo-thread
addf ddt_xv servo-thread
addf ddt_y servo-thread
addf ddt_yv servo-thread
addf ddt_z servo-thread
addf ddt_zv servo-thread
# get position feedback from encoder module
# connect position feedback to PID loop and motion module
net Xpos-fb encoder_px.position => pid_x.feedback joint.0.motor-pos-fb
net Ypos-fb encoder_py.position => pid_y.feedback joint.1.motor-pos-fb
net Zpos-fb encoder_pz.position => pid_z.feedback joint.2.motor-pos-fb
# set position feedback scaling
setp encoder_px.position-scale [JOINT_0]INPUT_SCALE
setp encoder_py.position-scale [JOINT_1]INPUT_SCALE
setp encoder_pz.position-scale [JOINT_2]INPUT_SCALE
# connect encoder index-enables for homing on index
net Xindex-enable encoder_px.index-enable <=> joint.0.index-enable pid_x.index-enable
net Yindex-enable encoder_py.index-enable <=> joint.1.index-enable
net Zindex-enable encoder_pz.index-enable <=> joint.2.index-enable
# connect position commands from motion controller to PID input
net Xpos-cmd <= joint.0.motor-pos-cmd => pid_x.command
net Ypos-cmd <= joint.1.motor-pos-cmd => pid_y.command
net Zpos-cmd <= joint.2.motor-pos-cmd => pid_z.command
# connect motion controller enables to PID blocks
net Xenable joint.0.amp-enable-out => pid_x.enable
net Yenable joint.1.amp-enable-out => pid_y.enable
net Zenable joint.2.amp-enable-out => pid_z.enable
# connect PID loops to scale blocks that translate to motor revs per sec
net Xoutput pid_x.output => scale_x.in
net Youtput pid_y.output => scale_y.in
net Zoutput pid_z.output => scale_z.in
# set scaling, number of motor revs needed to
# travel one inch
setp scale_x.gain [JOINT_0]DRIVE_RATIO
setp scale_y.gain [JOINT_1]DRIVE_RATIO
setp scale_z.gain [JOINT_2]DRIVE_RATIO
# motor speed command sigs come from scale blocks
# motor speed commands go thru lowpass filters
# to simulate motor inertia
net Xmtr-cmd scale_x.out => lowpass_x.in
net Ymtr-cmd scale_y.out => lowpass_y.in
net Zmtr-cmd scale_z.out => lowpass_z.in
# set "inertia" here, probably by trial and error
setp lowpass_x.gain 0.1
setp lowpass_y.gain 0.1
setp lowpass_z.gain 0.1
# "actual" motor speed signals
# output of lowpass is simulated motor speed
# speed goes to simulated encoders
net Xmtr-spd lowpass_x.out => sim_encoder_px.speed
net Ymtr-spd lowpass_y.out => sim_encoder_py.speed
net Zmtr-spd lowpass_z.out => sim_encoder_pz.speed
# set simulated encoder scaling
setp sim_encoder_px.ppr [JOINT_0]MOTOR_PPR
setp sim_encoder_py.ppr [JOINT_1]MOTOR_PPR
setp sim_encoder_pz.ppr [JOINT_2]MOTOR_PPR
# simulated encoder output signals
# connect them up
net XphA sim_encoder_px.phase-A => encoder_px.phase-A
net XphB sim_encoder_px.phase-B => encoder_px.phase-B
net XphZ sim_encoder_px.phase-Z => encoder_px.phase-Z
net YphA sim_encoder_py.phase-A => encoder_py.phase-A
net YphB sim_encoder_py.phase-B => encoder_py.phase-B
net YphZ sim_encoder_py.phase-Z => encoder_py.phase-Z
net ZphA sim_encoder_pz.phase-A => encoder_pz.phase-A
net ZphB sim_encoder_pz.phase-B => encoder_pz.phase-B
net ZphZ sim_encoder_pz.phase-Z => encoder_pz.phase-Z
# set PID loop output limits to max velocity
setp pid_x.maxoutput [JOINT_0]MAX_VELOCITY
setp pid_y.maxoutput [JOINT_1]MAX_VELOCITY
setp pid_z.maxoutput [JOINT_2]MAX_VELOCITY
# set PID loop gains
# NOTE: eventually these will be non-zero values as
# needed to tune the performance of each axis. The
# initial values shown here are extremely conservative
# to prevent unexpected behavior. After this file
# has been "executed" by halcmd, the gains can be
# interactively adjusted using commands like
# "halcmd setp pid.<channel>.Pgain <value>"
# Once the axis has been tuned to your satisfaction,
# do "halcmd show param | grep pid" to get a listing
# of the tuning parameters, and enter those values here.
# the values below come from the INI
setp pid_x.Pgain [JOINT_0]PGAIN
setp pid_x.Igain [JOINT_0]IGAIN
setp pid_x.Dgain [JOINT_0]DGAIN
setp pid_x.bias [JOINT_0]BIAS
setp pid_x.FF0 [JOINT_0]FF0
setp pid_x.FF1 [JOINT_0]FF1
setp pid_x.FF2 [JOINT_0]FF2
# deadband should be just over 1 count
setp pid_x.deadband [JOINT_0]DEADBAND
setp pid_y.Pgain [JOINT_1]PGAIN
setp pid_y.Igain [JOINT_1]IGAIN
setp pid_y.Dgain [JOINT_1]DGAIN
setp pid_y.bias [JOINT_1]BIAS
setp pid_y.FF0 [JOINT_1]FF0
setp pid_y.FF1 [JOINT_1]FF1
setp pid_y.FF2 [JOINT_1]FF2
# deadband should be just over 1 count
setp pid_y.deadband [JOINT_1]DEADBAND
setp pid_z.Pgain [JOINT_2]PGAIN
setp pid_z.Igain [JOINT_2]IGAIN
setp pid_z.Dgain [JOINT_2]DGAIN
setp pid_z.bias [JOINT_2]BIAS
setp pid_z.FF0 [JOINT_2]FF0
setp pid_z.FF1 [JOINT_2]FF1
setp pid_z.FF2 [JOINT_2]FF2
# deadband should be just over 1 count
setp pid_z.deadband [JOINT_2]DEADBAND
# send the position commands thru differentiators to
# generate velocity and accel signals
net Xvel ddt_x.out => ddt_xv.in
net Xacc <= ddt_xv.out
net Yvel ddt_y.out => ddt_yv.in
net Yacc <= ddt_yv.out
net Zvel ddt_z.out => ddt_zv.in
net Zacc <= ddt_zv.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net xflt => joint.0.amp-fault-in
net yflt => joint.1.amp-fault-in
net zflt => joint.2.amp-fault-in
# a second set of encoder counters keeps track of position
net XphA => encoder_x.phase-A
net XphB => encoder_x.phase-B
net YphA => encoder_y.phase-A
net YphB => encoder_y.phase-B
net ZphA => encoder_z.phase-A
net ZphB => encoder_z.phase-B
setp encoder_x.position-scale [JOINT_0]INPUT_SCALE
setp encoder_y.position-scale [JOINT_1]INPUT_SCALE
setp encoder_z.position-scale [JOINT_2]INPUT_SCALE
# connect "actual" position from encoders
# to window comparators
net Xaxis-pos encoder_x.position => wcomp_xneg.in wcomp_xpos.in wcomp_xhome.in
net Yaxis-pos encoder_y.position => wcomp_yneg.in wcomp_ypos.in wcomp_yhome.in
net Zaxis-pos encoder_z.position => wcomp_zneg.in wcomp_zpos.in wcomp_zhome.in
# connect simulated switch outputs to motion controller
net Xminlim wcomp_xneg.out => joint.0.neg-lim-sw-in
net Xmaxlim wcomp_xpos.out => joint.0.pos-lim-sw-in
net Xhome wcomp_xhome.out => joint.0.home-sw-in
net Yminlim wcomp_yneg.out => joint.1.neg-lim-sw-in
net Ymaxlim wcomp_ypos.out => joint.1.pos-lim-sw-in
net Yhome wcomp_yhome.out => joint.1.home-sw-in
net Zminlim wcomp_zneg.out => joint.2.neg-lim-sw-in
net Zmaxlim wcomp_zpos.out => joint.2.pos-lim-sw-in
net Zhome wcomp_zhome.out => joint.2.home-sw-in
# configure the points at which the simulated switches trip
# X axis first
# min limit switch
setp wcomp_xneg.max [JOINT_0]MIN_HARD_LIMIT
setp wcomp_xneg.min [JOINT_0]MIN_HARD_LIMIT_RELEASE
# max limit switch
setp wcomp_xpos.min [JOINT_0]MAX_HARD_LIMIT
setp wcomp_xpos.max [JOINT_0]MAX_HARD_LIMIT_RELEASE
# home switch
setp wcomp_xhome.min [JOINT_0]HOME_SW_MIN
setp wcomp_xhome.max [JOINT_0]HOME_SW_MAX
# Y axis
# min limit switch
setp wcomp_yneg.max [JOINT_1]MIN_HARD_LIMIT
setp wcomp_yneg.min [JOINT_1]MIN_HARD_LIMIT_RELEASE
# max limit switch
setp wcomp_ypos.min [JOINT_1]MAX_HARD_LIMIT
setp wcomp_ypos.max [JOINT_1]MAX_HARD_LIMIT_RELEASE
# home switch
setp wcomp_yhome.min [JOINT_1]HOME_SW_MIN
setp wcomp_yhome.max [JOINT_1]HOME_SW_MAX
# Z axis
# min limit switch
setp wcomp_zneg.max [JOINT_2]MIN_HARD_LIMIT
setp wcomp_zneg.min [JOINT_2]MIN_HARD_LIMIT_RELEASE
# max limit switch
setp wcomp_zpos.min [JOINT_2]MAX_HARD_LIMIT
setp wcomp_zpos.max [JOINT_2]MAX_HARD_LIMIT_RELEASE
# home switch
setp wcomp_zhome.min [JOINT_2]HOME_SW_MIN
setp wcomp_zhome.max [JOINT_2]HOME_SW_MAX
# Configure fake probing
loadrt sphereprobe names=sphereprobe
addf sphereprobe base-thread 2
setp sphereprobe.cx -2811 # this is where it ends up after homing
setp sphereprobe.cz -6000 # this is where it ends up after homing
setp sphereprobe.r 5000 # 5/6 inch
net px encoder_px.rawcounts => sphereprobe.px
net py encoder_py.rawcounts => sphereprobe.py
net pz encoder_pz.rawcounts => sphereprobe.pz
net probe-out sphereprobe.probe-out => motion.probe-input
net probe-out => encoder_px.latch-input encoder_py.latch-input
net probe-out => encoder_pz.latch-input
setp encoder_px.latch-rising 1
setp encoder_px.latch-falling 1
setp encoder_py.latch-rising 1
setp encoder_py.latch-falling 1
setp encoder_pz.latch-rising 1
setp encoder_pz.latch-falling 1

43
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_ldelta.hal Executable file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
#loadrt lineardeltakins
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W lineardelta MIN_JOINT=-420
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb lineardelta.joint0
net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb lineardelta.joint1
net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb lineardelta.joint2
net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
net L lineardeltakins.L => lineardelta.L
net R lineardeltakins.R => lineardelta.R
sets L 269
sets R 130.25
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
net spindle-fwd spindle.0.forward
net spindle-rev spindle.0.reverse
#net spindle-speed spindle.0.speed-out
net lube iocontrol.0.lube
net flood iocontrol.0.coolant-flood
net mist iocontrol.0.coolant-mist

498
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_lib.tcl Executable file
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# sim_lib.tcl: haltcl procs for sim configurations
#----------------------------------------------------------------------
# Notes (Joints-Axes):
# 1) if ::KINS(KINEMATICS) exists:
# loadrt the kins using any included parameters
# example: for inifile item:
# [KINS]KINEMATICS = trivkins coordinates=XZ kinstype=BOTH
# use:
# loadrt trivkins coordinates=xz kinstype=BOTH
# else:
# loadrt trivkins
#
# 2) NB: If $::KINS(KINEMATICS) specifies coordinates=, the
# coordinates must agree with ::TRAJ(COORDINATES)
#
# 3) if known kins (trivkins) and xyz, make hypotenuse velocity
# pins for xy,xyz
#----------------------------------------------------------------------
proc indices_for_trivkins {axes} {
# ref: src/emc/kinematics/trivkins.c
if {"$axes" == ""} {set axes {x y z a b c u v w}}
set i 0
foreach a [string tolower $axes] {
# assign to consecutive joints:
set ::SIM_LIB(jointidx,$a) $i
incr i
}
} ;# indices_for_trivkins
proc get_traj_coordinates {} {
# initraj.cc: coordinates may be with or without spaces X Z or XZ
# convert either form to list like {x z}
set coordinates [lindex $::TRAJ(COORDINATES) 0]
set coordinates [string map {" " "" "\t" ""} $coordinates]
set coordinates [split $coordinates ""]
return [string tolower $coordinates]
} ;# get_traj_coordinates
proc check_ini_items {} {
foreach {section item} {KINS KINEMATICS
KINS JOINTS
TRAJ COORDINATES
} {
if ![info exists ::${section}($item)] {
return -code error "Missing inifile item: \[$section\]$item"
}
}
if { [info exists ::DISPLAY(LATHE)]
&& [lsearch $::KINS(KINEMATICS) trivkins] >= 0
} {
# reject historical lathe config using default trivkins coordinates (all)
if {[string first "=" $::KINS(KINEMATICS)] < 0} {
set msg "trivkins lathe config must specify coordinates= "
set msg "$msg\n(typically use \[KINS]KINEMATICS trivkins coordinates=XZ)"
return -code error "$msg"
}
}
set n_extrajoints 0
if [info exists ::EMCMOT(EMCMOT)] {
set mot [split [lindex $::EMCMOT(EMCMOT) 0]]
if {[string first motmod $mot] >= 0} {
foreach item $mot {
if {[string first num_extrajoints= $item] < 0} continue
set n_extrajoints [lindex [split $item =] end]
} ;# foreach
}
}
set kins [split [lindex $::KINS(KINEMATICS) 0]]
if {[string first trivkins $kins] >= 0} {
foreach item $kins {
if {[string first coordinates= $item] < 0} continue
set tcoords [lindex [split $item =] end]
set len_tcoords [string len $tcoords]
set expected_joints [expr $len_tcoords + $n_extrajoints]
if {$expected_joints != $::KINS(JOINTS)} {
set m "\ncheck_ini_items: WARNING:\n"
set m "$m trivkins coordinates=$tcoords specifies $len_tcoords joints\n"
set m "$m trivkins extrajoints=$n_extrajoints\n"
set m "$m trivkins totaljoints=$expected_joints\n"
set m "$m !!! but \[KINS\]JOINTS=$::KINS(JOINTS)\n"
puts stderr $m
}
} ;# foreach
}
return
} ;# check_ini_items
proc setup_kins {axes} {
if ![info exists ::KINS(KINEMATICS)] {
puts stderr "setup_kins: NO \[KINS\]KINEMATICS, trying default trivkins"
loadrt trivkins
return
}
set kins_kinematics [lindex $::KINS(KINEMATICS) end]
set cmd "loadrt $kins_kinematics" ;# may include parms
set kins_module [lindex $kins_kinematics 0]
puts stderr "setup_kins: cmd=$cmd"
if [catch {eval $cmd} msg] {
puts stderr "\nmsg=$msg\n"
}
# set up axis indices for known kins
switch $kins_module {
trivkins {indices_for_trivkins $axes}
default {
puts stderr "setup_kins: unknown \[KINS\]KINEMATICS=<$::KINS(KINEMATICS)>"
}
}
} ;# setup_kins
proc core_sim {axes
number_of_joints
servo_period
{base_period 0}
{emcmot motmod}
} {
# adapted as haltcl proc from core_sim.hal
# note: with default emcmot==motmot,
# thread will not be added for (default) base_pariod == 0
setup_kins $axes
if {"$emcmot" == "motmod"} {
if [catch {loadrt $emcmot \
base_period_nsec=$base_period \
servo_period_nsec=$servo_period \
num_joints=$number_of_joints} msg
] {
# typ: too many joints attempted
puts stderr "\n"
puts stderr "core_sim: loadrt $emcmot FAIL"
puts stderr " msg=$msg\n"
exit 1
}
} else {
# known special case with additional parameter:
# unlock_joint_mask=0xNN
# num_extrajoints=n
set module [split [lindex $emcmot 0]]
set modname [lindex $module 0]
set modparm [lreplace $module 0 0]
if [catch {eval loadrt $modname $modparm \
base_period_nsec=$base_period \
servo_period_nsec=$servo_period \
num_joints=$number_of_joints} msg
] {
puts stderr "\n"
puts stderr "core_sim:unhandled emcmot<$emcmot>"
puts stderr " modname=$modname"
puts stderr " modparm=$modparm"
puts stderr " msg=$msg\n"
exit 1
}
}
addf motion-command-handler servo-thread
addf motion-controller servo-thread
set pid_names ""
set mux_names ""
for {set jno 0} {$jno < $number_of_joints} {incr jno} {
set pid_names "${pid_names},J${jno}_pid"
set mux_names "${mux_names},J${jno}_mux"
}
set pid_names [string trimleft $pid_names ,]
set mux_names [string trimleft $mux_names ,]
loadrt pid names=$pid_names
loadrt mux2 names=$mux_names
# pid components
# The pid comp is used as a pass-thru device (FF0=1,all other gains=0)
# to emulate the connectivity of a servo system
# (e.g., no short-circuit connection of motor-pos-cmd to motor-pos-fb)
foreach cname [split $pid_names ,] {
addf ${cname}.do-pid-calcs servo-thread
# FF0 == 1 for pass-thru, all others 0
do_setp ${cname}.FF0 1.0
foreach pin {Pgain Dgain Igain FF1 FF2} { do_setp ${cname}.$pin 0 }
}
# mux components
# The mux comp is used as a sample-hold to simulate a machine
# with encoders that measure output position when power
# is not applied to the motors or controllers
foreach cname [split $mux_names ,] {
addf $cname servo-thread
}
# signal connections:
net estop:loop <= iocontrol.0.user-enable-out
net estop:loop => iocontrol.0.emc-enable-in
net tool:prep-loop <= iocontrol.0.tool-prepare
net tool:prep-loop => iocontrol.0.tool-prepared
net tool:change-loop <= iocontrol.0.tool-change
net tool:change-loop => iocontrol.0.tool-changed
net sample:enable <= motion.motion-enabled
for {set jno 0} {$jno < $number_of_joints} {incr jno} {
net sample:enable => J${jno}_mux.sel
net J${jno}:enable <= joint.$jno.amp-enable-out
net J${jno}:enable => J${jno}_pid.enable
net J${jno}:pos-cmd <= joint.$jno.motor-pos-cmd
net J${jno}:pos-cmd => J${jno}_pid.command
net J${jno}:on-pos <= J${jno}_pid.output
net J${jno}:on-pos => J${jno}_mux.in1 ;# pass thru when motion-enabled
net J${jno}:pos-fb <= J${jno}_mux.out
net J${jno}:pos-fb => J${jno}_mux.in0 ;# hold position when !motion-enabled
net J${jno}:pos-fb => joint.$jno.motor-pos-fb
}
} ;# core_sim
proc make_ddts {number_of_joints} {
# make vel,accel ddts and signals for all joints
# if xyz, make hypotenuse xy,xyz vels
set ddt_names ""
set ddt_ct 0
for {set jno 0} {$jno < $number_of_joints} {incr jno} {
incr ddt_ct 2
set ddt_names "${ddt_names},J${jno}_vel,J${jno}_accel"
}
set ddt_names [string trimleft $ddt_names ,]
loadrt ddt names=$ddt_names
foreach cname [split $ddt_names ,] {
addf $cname servo-thread
}
# joint vel,accel signal connections:
set ddt_ct 0
for {set jno 0} {$jno < $number_of_joints} {incr jno} {
incr ddt_ct 2
net J${jno}:pos-fb => J${jno}_vel.in ;# net presumed to exist
net J${jno}:vel <= J${jno}_vel.out
net J${jno}:vel => J${jno}_accel.in
net J${jno}:acc <= J${jno}_accel.out
}
set has_xyz 1
foreach letter {x y z} {
if ![info exists ::SIM_LIB(jointidx,$letter)] {
set has_xyz 0
break
}
}
if $has_xyz {
loadrt hypot names=hyp_xy,hyp_xyz ;# vector velocities
addf hyp_xy servo-thread
addf hyp_xyz servo-thread
net J$::SIM_LIB(jointidx,x):vel <= J$::SIM_LIB(jointidx,x)_vel.out
net J$::SIM_LIB(jointidx,x):vel => hyp_xy.in0
net J$::SIM_LIB(jointidx,x):vel => hyp_xyz.in0
net J$::SIM_LIB(jointidx,y):vel <= J$::SIM_LIB(jointidx,y)_vel.out
net J$::SIM_LIB(jointidx,y):vel => hyp_xy.in1
net J$::SIM_LIB(jointidx,y):vel => hyp_xyz.in1
net J$::SIM_LIB(jointidx,z):vel <= J$::SIM_LIB(jointidx,z)_vel.out
net J$::SIM_LIB(jointidx,z):vel => hyp_xyz.in2
net xy:vel => hyp_xy.out
net xyz:vel <= hyp_xyz.out
}
} ;# make_ddts
proc use_hal_manualtoolchange {} {
# adapted as haltcl proc from axis_manualtoolchange.hal
loadusr -W hal_manualtoolchange
# disconnect if previously connected:
unlinkp iocontrol.0.tool-change
unlinkp iocontrol.0.tool-changed
# remove signal with no connections:
delsig tool:change-loop
net tool:change <= iocontrol.0.tool-change
net tool:change => hal_manualtoolchange.change
net tool:changed <= hal_manualtoolchange.changed
net tool:changed => iocontrol.0.tool-changed
net tool:prep-number <= hal_manualtoolchange.number
net tool:prep-number => iocontrol.0.tool-prep-number
} ;# use_hal_manualtoolchange
proc simulated_home {number_of_joints} {
# uses sim_home_switch component
set switch_names ""
for {set jno 0} {$jno < $number_of_joints} {incr jno} {
set switch_names "${switch_names},J${jno}_switch"
}
set switch_names [string trimleft $switch_names ,]
loadrt sim_home_switch names=$switch_names
foreach cname [split $switch_names ,] {
addf $cname servo-thread
}
for {set jno 0} {$jno < $number_of_joints} {incr jno} {
# add pin to pre-existing signal:
net J${jno}:pos-fb => J${jno}_switch.cur-pos
net J${jno}:homesw <= J${jno}_switch.home-sw
net J${jno}:homesw => joint.$jno.home-sw-in
# set sim_home_switch .hysteresis,.home-pos pins
# according to traj units and joint type
if ![info exists ::JOINT_[set jno](TYPE)] {
# use component defaults
} else {
if {"[set ::JOINT_[set jno](TYPE)]" == "ANGULAR"} {
# use component defaults
} else {
if ![info exists ::TRAJ(LINEAR_UNITS)] {
# use component defaults
} else {
switch $::TRAJ(LINEAR_UNITS) {
in - inch - imperial {
do_setp J${jno}_switch.hysteresis 0.05
do_setp J${jno}_switch.home-pos 0.10
}
default { # use component default }
}
}
if { [info exists ::JOINT_[set jno](HOME_SEARCH_VEL)]
&& [set ::JOINT_[set jno](HOME_SEARCH_VEL)] < 0} {
do_setp J${jno}_switch.home-pos -[getp J${jno}_switch.home-pos]
}
}
} ;# type
if [info exists ::JOINT_[set jno](HOME_USE_INDEX)] {
if [set ::JOINT_[set jno](HOME_USE_INDEX)] {
# Note: use default for joint.${jno}.index-delay-ms
net J${jno}:index-enable <= joint.${jno}.index-enable
net J${jno}:index-enable => J${jno}_switch.index-enable
}
}
} ;# for
} ;# simulated_home
proc sim_spindle {} {
# adapted as haltcl proc from sim_spindle_encoder.hal
# simulated spindle encoder (for spindle-synced moves)
loadrt sim_spindle names=sim_spindle
do_setp sim_spindle.scale 0.01666667
loadrt limit2 names=limit_speed
loadrt lowpass names=spindle_mass
loadrt near names=near_speed
loadrt scale names=rpm_rps
setp rpm_rps.gain .0167
# this limit doesn't make any sense to me:
do_setp limit_speed.maxv 5000.0 ;# rpm/second
# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable <=> spindle.0.index-enable
net spindle-index-enable <=> sim_spindle.index-enable
# report our revolution count to the motion controller
net spindle-pos <= sim_spindle.position-fb
net spindle-pos => spindle.0.revs
# simulate spindle mass
do_setp spindle_mass.gain .07
# spindle speed control
net spindle-speed-cmd <= spindle.0.speed-out
net spindle-speed-cmd => limit_speed.in
net spindle-speed-cmd => near_speed.in1
net spindle-speed-limited <= limit_speed.out
net spindle-speed-limited => sim_spindle.velocity-cmd
net spindle-speed-limited => spindle_mass.in
# for spindle velocity estimate
net spindle-rpm-filtered <= spindle_mass.out
net spindle-rpm-filtered rpm_rps.in
net spindle-rps-filtered rpm_rps.out spindle.0.speed-in
net spindle-rpm-filtered => near_speed.in2
# at-speed detection
do_setp near_speed.scale 1.1
do_setp near_speed.difference 10
net spindle-at-speed <= near_speed.out
net spindle-at-speed => spindle.0.at-speed
net spindle-orient <= spindle.0.orient
net spindle-orient <= spindle.0.is-oriented
addf limit_speed servo-thread
addf spindle_mass servo-thread
addf rpm_rps servo-thread
addf near_speed servo-thread
addf sim_spindle servo-thread
} ;# sim_spindle
proc save_hal_cmds {savefilename {options ""} } {
set tmpfile /tmp/save_hal_cmds_tmp
set date [clock format [clock seconds]]
set script [info script]
set save_arg all ;# suffices if only basic_sim in use
if {[llength $::HAL(HALFILE)] > 1} {
set save_arg allu ;# do *all* unconnected pins including
;# pins from other HALFILEs
}
set fd [open $savefilename w] ;# overwrite any existing file
puts $fd "# $date
#
# This file: $savefilename
# Created by: $script
# With options: $::argv
# From inifile: $::env(INI_FILE_NAME)
# Halfiles: $::HAL(HALFILE)
#
# This file contains the hal commands produced by [file tail $script]
# (and any hal commands executed prior to its execution).
# ------------------------------------------------------------------
# To use $savefilename in the original inifile (or a copy of it),
# edit to change:
# \[HAL\]
# HALFILE = LIB:basic_sim.tcl parameters
# to:
# \[HAL\]
# HALFILE = $savefilename
#
# Notes:
# 1) Inifile Variables substitutions specified in the inifile
# and interpreted by halcmd are automatically substituted
# in the created halfile ($savefilename).
# 2) Input pins connected to a signal with no writer are
# not included in the setp listings herein so must be added
# manually
#
"
if {[lsearch $options use_hal_manualtoolchange] >= 0} {
puts $fd "# user space components"
puts $fd "loadusr -W hal_manualtoolchange"
puts $fd ""
}
hal save $save_arg $tmpfile
set ftmp [open $tmpfile r]
set gave_msg 0
set setp_fmt "%-3s %-30s %s"
while {![eof $ftmp]} {
gets $ftmp line
if {([string first "unconnected pin values" $line] >0) && !$gave_msg} {
set gave_msg 1
puts $fd "# Note: ALL unconnected pins follow"
puts $fd "# (includes pins using default with no explicit setp command)"
} else {
scan $line "%s %s %s" cmd arg1 remainder
switch $cmd {
setp {puts $fd [format $setp_fmt $cmd $arg1 $remainder]}
loadrt {
if { [string first tpmod [list $line]] >= 0
|| [string first homemod [list $line]] >= 0
} {
puts $fd "#preloaded module: $line"
} else {
puts $fd $line
}
}
default {puts $fd $line}
}
}
} ;# while
close $ftmp
file delete $tmpfile
if {("$save_arg" != "allu") && [info exists ::SIM_LIB(setp_list)]} {
puts $fd "# setp commands for unconnected input pins"
foreach {pname value} $::SIM_LIB(setp_list) {
puts $fd [format $setp_fmt setp $pname $value]
}
}
close $fd
} ;# save_hal_cmds
proc do_setp {pname value} {
setp $pname $value
lappend ::SIM_LIB(setp_list) $pname $value
} ;# do_setp

42
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_rdelta.hal Executable file
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loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadusr -W rotarydelta
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
net J3pos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
net J4pos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
net J5pos joint.5.motor-pos-cmd => joint.5.motor-pos-fb
net J6pos joint.6.motor-pos-cmd => joint.6.motor-pos-fb
net J7pos joint.7.motor-pos-cmd => joint.7.motor-pos-fb
net J8pos joint.8.motor-pos-cmd => joint.8.motor-pos-fb
net J0cmd joint.0.pos-cmd => rotarydelta.joint0
net J1cmd joint.1.pos-cmd => rotarydelta.joint1
net J2cmd joint.2.pos-cmd => rotarydelta.joint2
net pfr rotarydeltakins.platformradius => rotarydelta.pfr
net tl rotarydeltakins.thighlength => rotarydelta.tl
net sl rotarydeltakins.shinlength => rotarydelta.sl
net fr rotarydeltakins.footradius => rotarydelta.fr
sets pfr 10
sets tl 10
sets sl 18
sets fr 5
# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

45
linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_spindle_encoder.hal Executable file
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# simulated spindle encoder (for spindle-synced moves)
loadrt sim_spindle names=sim_spindle
setp sim_spindle.scale 0.01666667
loadrt limit2 names=limit_speed
loadrt lowpass names=spindle_mass
loadrt near names=near_speed
loadrt scale names=rpm_rps
setp rpm_rps.gain .0167
# this limit doesn't make any sense to me:
setp limit_speed.maxv 5000.0 # rpm/second
# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable spindle.0.index-enable <=> sim_spindle.index-enable
# report our revolution count to the motion controller
net spindle-pos sim_spindle.position-fb => spindle.0.revs
# simulate spindle mass
setp spindle_mass.gain .07
# spindle speed control
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in
net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
# for spindle velocity estimate
net spindle-rpm-filtered spindle_mass.out near_speed.in2
net spindle-rpm-filtered rpm_rps.in
net spindle-rps-filtered rpm_rps.out spindle.0.speed-in
# at-speed detection
setp near_speed.scale 1.1
setp near_speed.difference 10
net spindle-speed-cmd => near_speed.in1
net spindle-at-speed near_speed.out spindle.0.at-speed
addf limit_speed servo-thread
addf spindle_mass servo-thread
addf rpm_rps servo-thread
addf near_speed servo-thread
addf sim_spindle servo-thread

47
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated-gantry-home.hal Executable file
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loadrt comp names=comp_j0,comp_j1,comp_j2,comp_j3
loadrt or2 names=or_homesws
# Joint 0 = X axis, home switch is on negative end
# Joint 1 = Y1 axis, home switch is on negative end
# Joint 2 = Z axis, home switch is on positive end
# Joint 3 = Y2 axis, home switch is on negative end
net J0homeswpos => comp_j0.in1
net J1homeswpos => comp_j1.in1
net J2homeswpos => comp_j2.in0
net J3homeswpos => comp_j3.in1
sets J0homeswpos -0.1
sets J1homeswpos -0.1
sets J2homeswpos 0.1
sets J3homeswpos -0.1
net J0pos => comp_j0.in0
net J1pos => comp_j1.in0
net J2pos => comp_j2.in1
net J3pos => comp_j3.in0
setp comp_j0.hyst .02
setp comp_j1.hyst .02
setp comp_j2.hyst .02
setp comp_j3.hyst .02
# the X and Z joints share a home switch
# the Y joints each have their own home switches
net J0homesw <= comp_j0.out
net J1homesw <= comp_j1.out => joint.1.home-sw-in
net J2homesw <= comp_j2.out
net J3homesw <= comp_j3.out => joint.3.home-sw-in
net J0homesw => or_homesws.in0
net J2homesw => or_homesws.in1
net J0.J1homesw or_homesws.out => joint.0.home-sw-in joint.2.home-sw-in
addf comp_j0 servo-thread
addf comp_j1 servo-thread
addf comp_j2 servo-thread
addf comp_j3 servo-thread
addf or_homesws servo-thread

32
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_home.hal Executable file
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loadrt or2 names=or2_0
loadrt comp names=comp_x,comp_y,comp_z
net Xhomeswpos => comp_x.in0
net Yhomeswpos => comp_y.in0
net Zhomeswpos => comp_z.in0
sets Xhomeswpos 1
sets Yhomeswpos .5
sets Zhomeswpos 2
net Xpos => comp_x.in1
net Ypos => comp_y.in1
net Zpos => comp_z.in1
setp comp_x.hyst .02
setp comp_y.hyst .02
setp comp_z.hyst .02
net Xhomesw <= comp_x.out
net Yhomesw <= comp_y.out => joint.1.home-sw-in
net Zhomesw <= comp_z.out
net Xhomesw => or2_0.in0
net Zhomesw => or2_0.in1
net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
addf comp_x servo-thread
addf comp_y servo-thread
addf comp_z servo-thread
addf or2_0 servo-thread

76
linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_limits.hal Executable file
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# HAL config file to simulate limit switches using window comparators
#
# first install nine comparators
loadrt wcomp names=wcomp_xmin,wcomp_xmax,wcomp_xhome,wcomp_ymin,wcomp_ymax,wcomp_yhome,wcomp_zmin,wcomp_zmax,wcomp_zhome
# add comparators to servo thread so they will be evaluated
# every servo period
addf wcomp_xmin servo-thread
addf wcomp_xmax servo-thread
addf wcomp_xhome servo-thread
addf wcomp_ymin servo-thread
addf wcomp_ymax servo-thread
addf wcomp_yhome servo-thread
addf wcomp_zmin servo-thread
addf wcomp_zmax servo-thread
addf wcomp_zhome servo-thread
# connect position feedback from step generators
# to window comparators
net Xpos-fb => wcomp_xmin.in
net Xpos-fb => wcomp_xmax.in
net Xpos-fb => wcomp_xhome.in
net Ypos-fb => wcomp_ymin.in
net Ypos-fb => wcomp_ymax.in
net Ypos-fb => wcomp_yhome.in
net Zpos-fb => wcomp_zmin.in
net Zpos-fb => wcomp_zmax.in
net Zpos-fb => wcomp_zhome.in
# connect simulated switch outputs to motion controller
net Xminlim wcomp_xmin.out => joint.0.neg-lim-sw-in
net Xmaxlim wcomp_xmax.out => joint.0.pos-lim-sw-in
net Xhome wcomp_xhome.out => joint.0.home-sw-in
net Yminlim wcomp_ymin.out => joint.1.neg-lim-sw-in
net Ymaxlim wcomp_ymax.out => joint.1.pos-lim-sw-in
net Yhome wcomp_yhome.out => joint.1.home-sw-in
net Zminlim wcomp_zmin.out => joint.2.neg-lim-sw-in
net Zmaxlim wcomp_zmax.out => joint.2.pos-lim-sw-in
net Zhome wcomp_zhome.out => joint.2.home-sw-in
# configure the points at which the simulated switches trip
# X axis first
# set min limit switch to trip at -10.2, release at -1000
setp wcomp_xmin.max -10.2
setp wcomp_xmin.min -1000
# set max limit switch to trip at +10.2, release at +10.21
setp wcomp_xmax.min 10.20
setp wcomp_xmax.max 10.21
# set home switch to trip at 9.5 and release at 9.75
setp wcomp_xhome.min 9.5
setp wcomp_xhome.max 9.75
# Y axis
# set min limit switch to trip at -10.2, release at -1000
setp wcomp_ymin.max -10.2
setp wcomp_ymin.min -1000
# set max limit switch to trip at +10.2, release at +10.21
setp wcomp_ymax.min 10.20
setp wcomp_ymax.max 10.21
# set home switch to trip at 9.5 and release at 9.75
setp wcomp_yhome.min 9.5
setp wcomp_yhome.max 9.75
# Z axis
# set min limit switch to trip at -2.1, release at -1000
setp wcomp_zmin.max -2.1
setp wcomp_zmin.min -1000
# set max limit switch to trip at +4.05,release at +5
setp wcomp_zmax.min 4.05
setp wcomp_zmax.max 5
# set home switch to trip at 3.9 and release at 4.1
setp wcomp_zhome.min 3.9
setp wcomp_zhome.max 4.1

55
linuxcnc/sim.gmoccapy.lathe_configs/hallib/tripodsim.hal Executable file
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# core HAL config file for simulation
# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
setp tripodkins.Bx 10
setp tripodkins.Cx 5
setp tripodkins.Cy 7.071
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD
# 6 differentiators (for velocity and accel sigs)
loadrt ddt names=ddt_j0,ddt_j1,ddt_j2,ddt_j0v,ddt_j1v,ddt_j2v
# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# link the differentiator functions into the code
addf ddt_j0 servo-thread
addf ddt_j0v servo-thread
addf ddt_j1 servo-thread
addf ddt_j1v servo-thread
addf ddt_j2 servo-thread
addf ddt_j2v servo-thread
# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net J0pos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_j0.in
net J1pos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_j1.in
net J2pos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_j2.in
# send the position commands thru differentiators to
# generate velocity and accel signals
net J0vel ddt_j0.out => ddt_j0v.in
net J0acc <= ddt_j0v.out
net J1vel ddt_j1.out => ddt_j1v.in
net J1acc <= ddt_j1v.out
net J2vel ddt_j2.out => ddt_j2v.in
net J2acc <= ddt_j2v.out
# estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
# amp control
net J0ena <= joint.0.amp-enable-out
net J1ena <= joint.1.amp-enable-out
net J2ena <= joint.2.amp-enable-out
net J0flt => joint.0.amp-fault-in
net J1flt => joint.1.amp-fault-in
net J2flt => joint.2.amp-fault-in

62
linuxcnc/sim.gmoccapy.lathe_configs/hallib/util_lib.tcl Executable file
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# util_lib.tcl -- utilities
set ::util_lib_quiet 0
# ::tp is the namespace for [HAL]TWOPASS processing
# quiet irrelevant messages in pass0
if { [namespace exists ::tp] \
&& ([::tp::passnumber] == 0) } { set ::util_lib_quiet 1 }
proc show_context {} {
if { $::util_lib_quiet } { return }
set pname show_context
puts "$pname: argv0=$::argv0"
puts "$pname: argv=$::argv"
foreach arg $::argv {
puts "$pname: arg=$arg"
}
puts "$pname: INI_FILE_NAME=$::env(INI_FILE_NAME)"
} ;# show_context
proc show_ini {} {
if { $::util_lib_quiet } { return }
set vars [uplevel #0 {info vars}]
set exclude_list {TP auto_index tcl_platform env}
foreach v $vars {
if { [lsearch $exclude_list $v] >= 0 } {continue}
set vg ::$v
if [array exists $vg] {
parray $vg
}
}
} ;# show_ini_info
proc show_env {} {
parray ::env
} ;# show_env
proc joint_number_for_axis {axis_letter} {
# For JOINTS_AXES:
# Apply rule for known kins with KINEMATICS_IDENTITY
set kinematics [lindex $::env(KINS_KINEMATICS) 0]
set coordinates $::env(TRAJ_COORDINATES)
if {[ string first " " $coordinates] < 0} {
set coordinates [split $coordinates ""]
}
set coordinates [string toupper $coordinates]
set axis_letter [string toupper $axis_letter]
# rules for known kinematics types
switch $kinematics {
trivkins {set joint_number [lsearch $coordinates $axis_letter]}
default {return -code error \
"joint_number_for_axis: <$axis_letter> unavailable for kinematics:\
<$::env(KINS_KINEMATICS)>"
}
}
#puts stderr "kins=$kinematics coords=$coordinates a=$axis_letter j=$joint_number"
if { $joint_number < 0} {
return -code error \
"joint_number_for_axis <$axis_letter> not in $::env(TRAJ_COORDINATES)"
}
return $joint_number
} ;# joint_number_for_axis

14
linuxcnc/sim.gmoccapy.lathe_configs/hallib/var_show.tcl Executable file
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# var_show.tcl
# this halfile can be used to show context and
# INI variable arrays available to tcl halfiles
# example: [HAL]LIB:var_show.tcl arg1 arg2
#begin-----------------------------------------------------------------
source [file join $::env(HALLIB_DIR) util_lib.tcl]
show_ini
show_context
puts ::argv=$::argv
puts ::arglen=[llength $::argv]

20
linuxcnc/sim.gmoccapy.lathe_configs/hallib/wheeljogpins.tcl Executable file
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# tcl file to enable jog pins
# for all axis letters
# for up to 9 joints
# errors are ignored
# scale defaults to 1, use ::argv otherwise for all
set scalevalue 1 ;# default
if {[llength $::argv] == 1} {
set scalevalue $::argv
}
catch {
foreach l {x y z a b c u v w} {
setp axis.$l.jog-enable 1
setp axis.$l.jog-scale $::scalevalue
}
for {set i 0} {$i < 9} {incr i} {
setp joint.$i.jog-enable 1
setp joint.$i.jog-scale $::scalevalue
}
}

17
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout1.cfg Executable file
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[XHC-HB04]
BUTTON=01:button-stop
BUTTON=02:button-start-pause
BUTTON=03:button-rewind
BUTTON=04:button-safe-z
BUTTON=05:button-home
BUTTON=06:button-x2
BUTTON=07:button-y2
BUTTON=08:button-probe-z
BUTTON=09:button-x0
BUTTON=0A:button-y0
BUTTON=0B:button-z0
BUTTON=0C:button-goto-zero
BUTTON=0D:button-step
BUTTON=0E:button-mode
BUTTON=0F:button-spindle
BUTTON=17:button-reset

19
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout2.cfg Executable file
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[XHC-HB04]
BUTTON=01:button-goto-zero
BUTTON=02:button-start-pause
BUTTON=03:button-rewind
BUTTON=04:button-probe-z
BUTTON=05:button-macro-3
BUTTON=06:button-half
BUTTON=07:button-zero
BUTTON=08:button-safe-z
BUTTON=09:button-home
BUTTON=0A:button-macro-1
BUTTON=0B:button-macro-2
BUTTON=0C:button-spindle
BUTTON=0D:button-step
BUTTON=0E:button-mode
BUTTON=0F:button-macro-6
BUTTON=10:button-macro-7
BUTTON=16:button-stop
BUTTON=17:button-reset

594
linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04.tcl Executable file
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# xhc-hb04.tcl: HALFILE for xhc-hb04 pendant
# library procs:
source [file join $::env(HALLIB_DIR) hal_procs_lib.tcl]
source [file join $::env(HALLIB_DIR) util_lib.tcl]
# Usage:
# In INI file, include:
# [HAL]
# HALFILE = existing halfiles
# ...
# HALFILE = xhc-hb04.tcl
#
# [XHC_HB04_CONFIG]
# layout = 2 (required: 1|2 are supported)
# coords = x y z a (up to 4 unique letters from x y z a b c u v w)
# coefs = 1 1 1 1 (optional, filter coefs, 0 < coef < 1, not usually reqd)
# scales = 1 1 1 1 (optional)
# mpg_accels = 50 75 30 75 (optional, less than axis max accel)
# threadname = servo-thread (optional)
# sequence = 1 (optional: 1|2)
# jogmode = normal (optional: normal|vnormal)
# require_pendant = yes (optional: yes|no)
# inch_or_mm = in (optional: in|mm, default is mm)
# [XHC_HB04_BUTTONS]
# name = pin (connect button to hal pin)
# name = "" (no connect button)
# special cases:
# start-pause = std_start_pause (for usual behavior)
# step = xhc-hb04.stepsize-up (for usual behavior)
# (see INI files for more exanples)
# Notes:
# 1) the 'start-pause' pin can be set to "std_start_pause" to
# implement default behavior
# 2) the 'step' pin is normally connected to xhc-hb04.stepsize-up
# 3) non-root access to the usb device requires an additional
# udev rule. Typically, create /etc/udev/rules.d/90-xhc.rules:
# SYSFS{idProduct}=="eb70", SYSFS{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
# or (for ubuntu12 and up):
# ATTR{idProduct}=="eb70", ATTR{idVendor}=="10ce", MODE="666", OWNER="root", GROUP="users"
# 4) For jogmode==vnormal (man motion -- see joint.N.jog-vel-mode),
# the max movement is limited by the machine velocity and acceleration limits
# such that delta_x = 0.5 * vmax**2/accelmx
# so for sim example:
# inch: vmax= 1.2 accelmax= 20 delta_x=0.036
# mm: vmax=30.48 acclemax=508 delta_x=0.9144
# Typically:
# (-s1) sequence 1 (1,10,100,1000) is ok for mm-based machines
# (-s2) sequence 2 (1,5,10,20) is ok for inch-based machines
#
# 5) updated for joints_axes: support only configs with known kins
# and they must be KINEMATICS_IDENTITY (trivkins)
# a) connect axis.L.jog-counts to joint.N.jog-counts
# axis.L.jog-scale to joint.L.jog-scale
# c) use [AXIS_N]MAX_ACCELERATION for both axis.L, joint.N
#-----------------------------------------------------------------------
# Copyright: 2014-16
# Author: Dewey Garrett <dgarrett@panix.com>
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
#-----------------------------------------------------------------------
proc is_uniq {list_name} {
set tmp(xxxxxxxx) "" ;# make an array first
foreach item $list_name {
if {[array names tmp $item] == $item} {
return 0 ;# not unique
}
set tmp($item) $item
}
return 1 ;# unique
} ;# is_uniq
proc connect_pins {} {
foreach bname [lsort [array names ::XHC_HB04_BUTTONS]] {
set thepin $::XHC_HB04_BUTTONS($bname)
set thepin [lindex $thepin 0]
if {"$thepin" == "\"\""} {
#puts stderr "$::progname: no pin defined for <$bname>"
continue
}
# this pin is can specify std behavior
if { ([string tolower $bname] == "start-pause")
&& ([string tolower $thepin] == "std_start_pause")
} {
std_start_pause_button
puts stderr "$::progname: using std_start_pause_button"
continue
}
# these are warnings in the INI file examples but aren't real pins
if {[string tolower "$thepin"] == "caution"} {
puts stderr "$::progname: skipping button $bname marked <$thepin>"
continue
}
set fullbname xhc-hb04.button-$bname
if !$::xhc_hb04_quiet {
if ![pin_exists $fullbname] {
puts stderr "$::progname: !!! <$fullbname> pin does not exist, continuing"
continue
}
if ![pin_exists $thepin] {
puts stderr "$::progname: !!! <$thepin> target pin does not exist, continuing"
continue
}
}
makenet pendant:$bname <= $fullbname => $thepin
}
} ;# connect_pins
proc wheel_setup {jogmode} {
if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
set idx 0
foreach g $::XHC_HB04_CONFIG(mpg_accels) {
set g1 $g
if {$g < 0} {
set g [expr -1 * $g]
puts stderr "$::progname: mpg_accel #$idx must be positive was:$g1, is:$g"
}
set ::XHC_HB04_CONFIG(accel,$idx) [format %f $g] ;# ensure floatingpt
incr idx
}
}
# defaults if not in INI file:
set ::XHC_HB04_CONFIG(coef,0) 1.0
set ::XHC_HB04_CONFIG(coef,1) 1.0
set ::XHC_HB04_CONFIG(coef,2) 1.0
set ::XHC_HB04_CONFIG(coef,3) 1.0
if [info exists ::XHC_HB04_CONFIG(coefs)] {
set idx 0
foreach g $::XHC_HB04_CONFIG(coefs) {
set g1 $g
if {$g < 0} {
set g [expr -1 * $g]
puts stderr "$::progname: coef #$idx must be positive was:$g1, is:$g"
}
if {$g > 1} {
set g .5
puts stderr "$::progname: coef #$idx must < 1 coef was:$g1, is:$g"
}
set ::XHC_HB04_CONFIG(coef,$idx) $g
incr idx
}
}
# defaults if not in INI file:
set ::XHC_HB04_CONFIG(scale,0) 1.0
set ::XHC_HB04_CONFIG(scale,1) 1.0
set ::XHC_HB04_CONFIG(scale,2) 1.0
set ::XHC_HB04_CONFIG(scale,3) 1.0
if [info exists ::XHC_HB04_CONFIG(scales)] {
set idx 0
foreach g $::XHC_HB04_CONFIG(scales) {
set ::XHC_HB04_CONFIG(scale,$idx) $g
incr idx
}
}
# to support fractional scales:
# divide the xhc-hb04.jog.scale by $kvalue
# and
# multiply the pendant_util.scale$idx by $kvalue
# to manipulate the integer (s32) joint.N.jog-counts
set kvalue 100.0; # allow fractional scales (.1, .01)
# Note: larger values not advised as the
# jog-counts are type s32 (~ +/-2e9)
setp pendant_util.k $kvalue
makenet pendant:jog-prescale <= xhc-hb04.jog.scale
makenet pendant:jog-prescale => pendant_util.divide-by-k-in
makenet pendant:jog-scale <= pendant_util.divide-by-k-out
# pendant:jog-scale connects to each:
# and axis.$coord.jog-scale
# joint.$jnum.jog-scale (if applicable)
makenet pendant:wheel-counts <= xhc-hb04.jog.counts
makenet pendant:wheel-counts-neg <= xhc-hb04.jog.counts-neg
set anames {x y z a}
set available_idx {0 1 2 3}
# The pendant has fixed labels and displays for letters: x y z a
# and xhc-hb04.cc hardcodes pin names for these letters: x y z a
# Herein: Use label corresponding to coord if possible.
# Otherwise, use next available label. When this occurs,
# pin names will be a little confusing but the signal names will
# align correctly.
#
# With this method, any coord (xyzabcuvw) can be controlled by
# the wheel (providing it exists)
#
set unassigned_coords {}
foreach coord $::XHC_HB04_CONFIG(coords) {
set i [lsearch $anames $coord]
if {$i >= 0} {
set i [lsearch $available_idx $i]
# use idx corresponding to coord
set use_idx($coord) [lindex $available_idx $i]
set available_idx [lreplace $available_idx $i $i]
} else {
lappend unassigned_coords $coord
}
}
foreach coord $unassigned_coords {
# use next available_idx
set use_idx($coord) [lindex $available_idx 0]
set available_idx [lreplace $available_idx 0 0]
}
set mapmsg ""
foreach coord $::XHC_HB04_CONFIG(coords) {
if [catch {set jnum [joint_number_for_axis $coord]} msg] {
puts stderr "$::progname: $msg"
set has_jnum 0
} else {
set has_jnum 1
}
set use_lbl($coord) [lindex $anames $use_idx($coord)]
set idx $use_idx($coord)
if {"$use_lbl($coord)" != "$coord"} {
set mapmsg "$mapmsg\
coord: $coord is mapped to pendant switch/display:\
$use_lbl($coord) index: $idx\n"
}
setp pendant_util.coef$idx $::XHC_HB04_CONFIG(coef,$idx)
setp pendant_util.scale$idx [expr $kvalue * $::XHC_HB04_CONFIG(scale,$idx)]
set acoord [lindex $anames $idx]
# accommodate existing signames for halui outpins:
makenet [existing_outpin_signame halui.axis.$coord.pos-feedback pendant:pos-$coord] \
<= halui.axis.$coord.pos-feedback \
=> xhc-hb04.$acoord.pos-absolute
makenet [existing_outpin_signame halui.axis.$coord.pos-relative pendant:pos-rel-$coord] \
<= halui.axis.$coord.pos-relative \
=> xhc-hb04.$acoord.pos-relative
makenet pendant:jog-scale => axis.$coord.jog-scale
makenet pendant:wheel-counts => pendant_util.in$idx
makenet pendant:wheel-counts-$coord-filtered <= pendant_util.out$idx \
=> axis.$coord.jog-counts
set COORD [string toupper $coord]
makenet pendant:jog-$coord <= xhc-hb04.jog.enable-$acoord \
=> axis.$coord.jog-enable
switch $jogmode {
vnormal {
setp axis.$coord.jog-vel-mode 1
}
}
set afraction 1.0 ;# default
# Only calculate an afraction IF we have specified mpg_accels in the INI file
if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
if [catch {
set afraction [expr $::XHC_HB04_CONFIG(accel,$idx)\
/[set ::AXIS_[set COORD](MAX_ACCELERATION)] ]
} msg] {
err_exit "<$msg>\n\nMissing INI setting: \[AXIS_$COORD\]MAX_ACCELERATION"
}
}
setp axis.$coord.jog-accel-fraction $afraction
# connect for joint pins if known (trivkins)
if $has_jnum {
if ![pin_exists joint.$jnum.jog-scale] {
err_exit "Not configured for coords = $::XHC_HB04_CONFIG(coords),\
missing joint.$jnum.* pins"
}
makenet pendant:jog-scale => joint.$jnum.jog-scale
makenet pendant:wheel-counts-$coord-filtered => joint.$jnum.jog-counts
if [catch {set std_accel [set ::JOINT_[set jnum](MAX_ACCELERATION)]} msg] {
err_exit "Error: missing \[JOINT_[set jnum]\]MAX_ACCELERATION"
}
if { [set ::JOINT_[set jnum](MAX_ACCELERATION)]
!= [set ::AXIS_[set COORD](MAX_ACCELERATION)] } {
puts stderr "$::progname: Warning accel values differ:"
puts stderr " \[JOINT_[set jnum]\]MAX_ACCELERATION=[set ::JOINT_[set jnum](MAX_ACCELERATION)]"
puts stderr " \[AXIS_[set COORD]\]MAX_ACCELERATION=[set ::AXIS_[set COORD](MAX_ACCELERATION)]"
}
makenet pendant:jog-$coord => joint.$jnum.jog-enable
set jfraction 1.0 ;# default
if [info exists ::XHC_HB04_CONFIG(mpg_accels)] {
if [catch {
set jfraction [expr $::XHC_HB04_CONFIG(accel,$idx)\
/[set ::JOINT_[set jnum](MAX_ACCELERATION)] ]
} msg] {
err_exit "<$msg>\n\nMissing INI setting: \[JOINT_$jnum\]MAX_ACCELERATION"
}
}
setp joint.$jnum.jog-accel-fraction $jfraction
switch $jogmode {
vnormal {
setp joint.$jnum.jog-vel-mode 1
}
}
}
} ;# for coord
if {"$mapmsg" != ""} {
puts "\n$::progname:\n$mapmsg"
}
setp halui.feed-override.scale 0.01
makenet pendant:wheel-counts => halui.feed-override.counts
setp halui.spindle.0.override.scale 0.01
makenet pendant:wheel-counts => halui.spindle.0.override.counts
makenet pendant:feed-override-enable => halui.feed-override.count-enable \
<= xhc-hb04.jog.enable-feed-override
makenet pendant:spindle-override-enable => halui.spindle.0.override.count-enable \
<= xhc-hb04.jog.enable-spindle-override
# accommodate existing signames for motion outpins
makenet [existing_outpin_signame motion.current-vel pendant:feed-value] \
<= motion.current-vel \
=> xhc-hb04.feed-value
makenet [existing_outpin_signame spindle.0.speed-out-rps-abs pendant:spindle-rps] \
<= spindle.0.speed-out-rps-abs \
=> xhc-hb04.spindle-rps
# accommodate existing signames for halui outpins:
makenet [existing_outpin_signame halui.max-velocity.value pendant:jog-speed] \
<= halui.max-velocity.value
makenet [existing_outpin_signame halui.feed-overide.value pendant:feed-override] \
<= halui.feed-override.value \
=> xhc-hb04.feed-override
makenet [existing_outpin_signame halui.spindle.0.override.value pendant:spindle-override] \
<= halui.spindle.0.override.value \
=> xhc-hb04.spindle-override
} ;# wheel_setup
proc existing_outpin_signame {pinname newsigname} {
# return existing outpin signame if it exists, else newsigname
set answer [is_connected $pinname signame]
switch $answer {
not_connected {return $newsigname}
is_output {puts "$::progname: Using existing outpin signame: $signame"
return "$signame"
}
default {return -code error \
"existing_outpin_signame:UNEXPECTED $answer"
}
}
} ;# existing_outpin_signame
proc std_start_pause_button {} {
# hardcoded setup for button-start-pause
makenet pendant:start-or-pause <= xhc-hb04.button-start-pause \
=> pendant_util.start-or-pause
makenet pendant:program-resume <= pendant_util.resume \
=> halui.program.resume
makenet pendant:program-pause <= pendant_util.pause \
=> halui.program.pause
makenet pendant:program-run <= pendant_util.run \
=> halui.program.run \
=> halui.mode.auto
# accommodate existing signames for halui outpins:
makenet [existing_outpin_signame halui.program.is-idle pendant:is-idle] \
<= halui.program.is-idle \
=> pendant_util.is-idle
makenet [existing_outpin_signame halui.program.is-paused pendant:is-paused] \
<= halui.program.is-paused \
=> pendant_util.is-paused
makenet [existing_outpin_signame halui.program.is-running pendant:is-running] \
<= halui.program.is-running \
=> pendant_util.is-running
} ;# std_start_pause_button
proc popup_msg {msg} {
puts stderr "$msg"
if [catch {package require Tk
wm withdraw .
tk_messageBox \
-title "$::progname" \
-type ok \
-message "$msg"
destroy .
} msg] {
puts stderr "$msg"
}
} ;# popup_msg
proc err_exit {msg} {
popup_msg $msg
puts stderr "\n$::progname: $msg\n"
exit 1
} ;# err_exit
proc makenet {args} {
if [catch {eval net $args} msg] {
if ![info exists ::makenet_msg] {
set ::makenet_msg \
"Failed to make some required connections"
}
set sig "Signal: <[lindex $args 0]>:"
set ::makenet_msg "$::makenet_msg\n\n$sig\n$msg"
}
} ;# makenet
# begin------------------------------------------------------------------------
set ::progname "xhc-hb04.tcl"
set ::xhc_hb04_quiet 0
# ::tp is the namespace for [HAL]TWOPASS processing
if { [namespace exists ::tp] && ([::tp::passnumber] == 0) } {
set ::xhc_hb04_quiet 1
puts "$::progname: suppressing messages in twopass pass0"
}
set libtag "LIB:"
set cfg ${libtag}xhc-hb04-layout2.cfg ;# default
if ![info exists ::HAL(HALUI)] {
err_exit "\[HAL\]HALUI is not set"
}
if {[array names ::XHC_HB04_CONFIG] == ""} {
err_exit "Missing stanza: \[XHC_HB04_CONFIG\]"
}
if {[array names ::XHC_HB04_BUTTONS] == ""} {
err_exit "Missing stanza: \[XHC_HB04_BUTTONS\]"
}
foreach name [array names ::XHC_HB04_CONFIG] {
set ::XHC_HB04_CONFIG($name) [string trim $::XHC_HB04_CONFIG($name) "{}"]
}
if [info exists ::XHC_HB04_CONFIG(layout)] {
switch ${::XHC_HB04_CONFIG(layout)} {
1 {set cfg ${libtag}xhc-hb04-layout1.cfg}
2 {set cfg ${libtag}xhc-hb04-layout2.cfg}
default {
set msg "Nonstandard layout:<$::XHC_HB04_CONFIG(layout)>"
set cfg $::XHC_HB04_CONFIG(layout)
set msg "$msg\ntrying: $cfg"
popup_msg "$msg"
# keep going
}
}
}
# .cfg files use same search path as halfiles
set cfg [find_file_in_hallib_path $cfg]
if ![file exists $cfg] {
set msg "Cannot find file: <$cfg>\nCannot configure pendant\n"
set msg "$msg\nContinuing without xhc-hb04"
popup_msg "$msg"
return ;# not an exit
}
# handle keywords with either upper or lower case
foreach name [array names ::XHC_HB04_CONFIG] {
set lname [string tolower $name]
set uname [string toupper $name]
if ![info exists ::XHC_HB04_CONFIG($uname)] {
continue
} else {
if { [info exists ::XHC_HB04_CONFIG($lname)]
&& "$::XHC_HB04_CONFIG($lname)" != "$::XHC_HB04_CONFIG($uname)"} {
puts "duplicated item: \[XHC_HB04_CONFIG\]$uname = $::XHC_HB04_CONFIG($uname)"
puts "superseded with: \[XHC_HB04_CONFIG\]$lname = $::XHC_HB04_CONFIG($lname)"
unset ::XHC_HB04_CONFIG($uname)
}
}
}
foreach name [array names ::XHC_HB04_BUTTONS] {
set lname [string tolower $name]
set uname [string toupper $name]
if ![info exists ::XHC_HB04_BUTTONS($uname)] {
continue
} else {
if { [info exists ::XHC_HB04_BUTTONS($lname)]
&& "$::XHC_HB04_BUTTONS($lname)" != "$::XHC_HB04_BUTTONS($uname)"} {
puts "duplicated item: \[XHC_HB04_BUTTONS\]$uname = $::XHC_HB04_BUTTONS($uname)"
puts "superseded with: \[XHC_HB04_BUTTONS\]$lname = $::XHC_HB04_BUTTONS($lname)"
unset ::XHC_HB04_BUTTONS($uname)
}
}
}
# require_pendant==yes: use -x, dont create pins unless connected
# require_pendant==no: create pins if not connected
if ![info exists ::XHC_HB04_CONFIG(require_pendant)] {
set ::XHC_HB04_CONFIG(require_pendant) yes ;# default
}
set dashx -x
switch $::XHC_HB04_CONFIG(require_pendant) {
no {set dashx ""}
}
if [info exists ::XHC_HB04_CONFIG(sequence)] {
set dashs "-s $::XHC_HB04_CONFIG(sequence)"
} else {
set dashs ""
}
set cmd "loadusr -W xhc-hb04 $dashx $dashs -I $cfg -H"
if [catch {eval $cmd} msg] {
set msg "\n$::progname: loadusr xhc-hb04:\n<$msg>\n\n"
set msg "$msg Is it plugged in?\n\n"
set msg "$msg Are permissions correct?\n\n"
set msg "$msg Continuing without xhc-hb04\n"
set msg "$msg \nFailing cmd:\n$cmd"
popup_msg "$msg"
return ;# not an exit
}
if ![info exists ::XHC_HB04_CONFIG(inch_or_mm)] {
set ::XHC_HB04_CONFIG(inch_or_mm) mm
}
switch -glob $::XHC_HB04_CONFIG(inch_or_mm) {
in* {setp xhc-hb04.inch-icon 1}
default {}
}
if ![info exists ::XHC_HB04_CONFIG(jogmode)] {
set ::XHC_HB04_CONFIG(jogmode) normal ;# default
}
set jogmode $::XHC_HB04_CONFIG(jogmode)
switch $jogmode {
normal {}
vnormal {}
default {
set ::XHC_HB04_CONFIG(jogmode) normal
set msg "Unkknown jogmode <$jogmode>"
set msg "$msg Using $::XHC_HB04_CONFIG(jogmode)"
popup_msg "$msg"
}
}
if [info exists ::XHC_HB04_CONFIG(coords)] {
if ![is_uniq $::XHC_HB04_CONFIG(coords)] {
err_exit "coords must be unique, not: <$::XHC_HB04_CONFIG(coords)>"
}
if {[llength $::XHC_HB04_CONFIG(coords)] > 4} {
err_exit "max no.of coords is 4 <$::XHC_HB04_CONFIG(coords)>"
}
} else {
set ::XHC_HB04_CONFIG(coords) {x y z a} ;# default
}
if ![info exists ::XHC_HB04_CONFIG(threadname)] {
set ::XHC_HB04_CONFIG(threadname) "servo-thread" ;# default
}
loadrt xhc_hb04_util names=pendant_util
addf pendant_util $::XHC_HB04_CONFIG(threadname)
# If twopass, do not call procs in pass0 that test pin
# connections since components not yet loaded
if { ![namespace exists ::tp] || ([::tp::passnumber] != 0) } {
connect_pins ;# per INI file items: [XHC_HB04_BUTTONS]buttonname=pin
wheel_setup $::XHC_HB04_CONFIG(jogmode)
# jog wheel per INI file items:
# [XHC_HB04_CONFIG]coords,coefs,scales
}
if [info exists ::makenet_msg] {
popup_msg $::makenet_msg
}
#parray ::XHC_HB04_CONFIG

24
linuxcnc/sim.gmoccapy.lathe_configs/halshow.preferences Executable file
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# Halshow settings
# This file is generated automatically.
wm geometry . 953x382+810+114
placeFrames 0.4680232558139535
set ::ratio 0.4680232558139535
set ::old_w_leftf 160
set ::watchlist {
pin+lcec.0.0.actual-position
pin+lcec.0.0.commanded-position
pin+lcec.0.0.enc-frequency
pin+lcec.0.0.enc-pos-scale
pin+lcec.0.0.enc-position
pin+lcec.0.0.index-byte
pin+lcec.0.0.DiffT
pin+lcec.0.read.time
pin+lcec.0.write.time
}
set ::workmode watchhal
set ::watchInterval 100
set ::col1_width 100
set ::ffmts
set ::ifmts
set ::alwaysOnTop 0
set ::autoSaveWatchlist 1

160
linuxcnc/sim.gmoccapy.lathe_configs/lathe.ini Executable file
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# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
HALFILE = ethercat_end.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 100
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = 250
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

74
linuxcnc/sim.gmoccapy.lathe_configs/lathe.pref Executable file
View File

@@ -0,0 +1,74 @@
[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
gremlin_view = rbt_view_y2
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
use_screen2 = False
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
view = p
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = True
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 3
toggle_readout = True
tool_in_spindle = 0

5
linuxcnc/sim.gmoccapy.lathe_configs/lathe.tbl Executable file
View File

@@ -0,0 +1,5 @@
T1 P1 X-12.0 Y0.0 Z-25.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I26.0 J86.0 Q2.0 ;60 Grad vorn
T2 P2 X-10.356 Y0.0 Z12.123 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I50.0 J85.0 Q2.0 ;35 Grad vorn
T3 P3 X1.123 Y0.0 Z25.456 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I-80.0 J-25.0 Q3.0 ;55 Grad vorn
T4 P4 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I94.0 J154.0 Q1.0 ;60 Grad Rück
T5 P5 X5.737 Y0.0 Z12.2399 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I0.0 J0.0 Q6.0 ;Einstichstahl

182
linuxcnc/sim.gmoccapy.lathe_configs/lathe_C.ini Executable file
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@@ -0,0 +1,182 @@
# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = lathe_c
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe_C.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZC
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_2]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

210
linuxcnc/sim.gmoccapy.lathe_configs/lathe_CW.ini Executable file
View File

@@ -0,0 +1,210 @@
# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = lathe_cw
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe_CW.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z C W
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZCW
JOINTS = 4
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_2]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_W]
MIN_LIMIT = -200.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 66
MAX_ACCELERATION = 150.0
[JOINT_3]
TYPE = LINEAR
MAX_VELOCITY = 66
MAX_ACCELERATION = 150.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -200.0
MAX_LIMIT = 0.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

160
linuxcnc/sim.gmoccapy.lathe_configs/lathe_backtool.ini Executable file
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# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 1
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

73
linuxcnc/sim.gmoccapy.lathe_configs/lathe_c.pref Executable file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
reload_tool = True
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
mouse_btn_mode = 4
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = False
show_keyboard_on_file_selection = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rotation of Z
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
unlock_way = no
grid_size = 1.0
view = y2
gremlin_view = rbt_view_y
tool_in_spindle = 0
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
hide_cursor = False
jump_to_dir = /home/emcmesa
blockdel = False
opstop = False
run_from_line = run
show_preview_on_offset = True
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True

72
linuxcnc/sim.gmoccapy.lathe_configs/lathe_cw.pref Executable file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
view = y2
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 140.4
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = False
show_keyboard_on_mdi = False
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = no
show_preview_on_offset = False
use_keyboard_shortcuts = True
dro_digits = 3
toggle_readout = True
tool_in_spindle = 2

160
linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.ini Executable file
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# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = lathe_imperial
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 0.4 inch, 0.04 inch , 0.004 inch, 0.0004 inch
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G20 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.001
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.6
MAX_LINEAR_VELOCITY = 10
POSITION_FILE = position.txt
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -2.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 4
HOME_SEARCH_VEL = 40.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 400.0
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 6.5
MAX_ACCELERATION = 59.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -3.0
MAX_LIMIT = 400.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -4
HOME_SEARCH_VEL = 40.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos
# Sections for display options ------------------------------------------------

71
linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.pref Executable file
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[DEFAULT]
dro_size = 28
abs_color = #0000FF
rel_color = #000000
dtg_color = #FFFF00
homed_color = #00FF00
unhomed_color = #FF0000
spindle_bar_min = 0.0
spindle_bar_max = 6000.0
unlock_code = 123
blockheight = 0.0
spindle_start_rpm = 300.0
scale_jog_vel = 6.0
scale_spindle_override = 1
scale_feed_override = 1
scale_rapid_override = 1
hide_turtle_jog_button = False
turtle_jog_factor = 20
open_file =
screen1 = window
x_pos = 40
y_pos = 30
width = 979
height = 750
gtk_theme = Follow System Theme
audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
grid_size = 1.0
mouse_btn_mode = 4
hide_cursor = False
system_name_tool = Tool
system_name_g5x = G5x
system_name_rot = Rot
system_name_g92 = G92
system_name_g54 = G54
system_name_g55 = G55
system_name_g56 = G56
system_name_g57 = G57
system_name_g58 = G58
system_name_g59 = G59
system_name_g59.1 = G59.1
system_name_g59.2 = G59.2
system_name_g59.3 = G59.3
jump_to_dir = /home/emcmesa
show_keyboard_on_offset = False
show_keyboard_on_tooledit = False
show_keyboard_on_edit = True
show_keyboard_on_mdi = True
show_keyboard_on_file_selection = False
x_pos_popup = 45.0
y_pos_popup = 55
width_popup = 250.0
max_messages = 10
message_font = sans 10
use_frames = True
reload_tool = True
blockdel = False
opstop = False
enable_dro = False
show_offsets = False
show_dtg = False
view_tool_path = True
view_dimension = True
run_from_line = no_run
unlock_way = use
show_preview_on_offset = False
use_keyboard_shortcuts = False
dro_digits = 4
toggle_readout = True
view = y

165
linuxcnc/sim.gmoccapy.lathe_configs/lathe_macros.ini Executable file
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# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
VERSION = 1.1
MACHINE = gmoccapy_lathe
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy
LATHE = 1
BACK_TOOL_LATHE = 0
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Prefix to be used
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
EMBED_TAB_NAME = Cycles
EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros:./
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = core_sim_lathe.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home_lathe.hal
# Single file that is executed after the GUI has started.
#POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 234
POSITION_FILE = position.txt
#NO_FORCE_HOMING = 1
# First axis
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = lathe.tbl
[KINS]
KINEMATICS = trivkins coordinates=XZ
JOINTS = 2
[AXIS_X]
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 200.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis
[AXIS_Z]
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -75.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# section for main IO controller parameters -----------------------------------
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos

217
linuxcnc/sim.gmoccapy.lathe_configs/lathehandler.py Executable file
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@@ -0,0 +1,217 @@
#!/usr/bin/env python3
# vim: sts=4 sw=4 et
# This is a component of EMC
# savestate.py copyright 2013 Andy Pugh
# based on code from
# probe.py Copyright 2010 Michael Haberler
#
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA''''''
import os,sys
from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widgets
import hal
import hal_glib
import glib
import linuxcnc
import cairo
import signal
import re
import gi
gi.require_version('Rsvg', '2.0')
gi.require_version('Gtk', '3.0')
from gi.repository import Gtk
from gi.repository import Gdk
from gi.repository import GObject
from gi.repository import Pango
from gi.repository import Rsvg
from gi.repository import GdkPixbuf
debug = 0
notouch = 0
norun = 0
class HandlerClass:
active = False
tab_num = 0
def on_expose(self,nb,data=None):
tab_num = nb.get_current_page()
tab = nb.get_nth_page(tab_num)
alloc = tab.get_allocation()
x, y, w, h = (alloc.x, alloc.y, alloc.width, alloc.height)
pixbuf = self.svg.get_pixbuf_sub(f'#layer{tab_num}').scale_simple(w-10, h-10, GdkPixbuf.InterpType.BILINEAR)
im = self.builder.get_object(f'Image{tab_num}')
im.set_from_pixbuf(pixbuf)
for c in im.get_parent().get_children():
if c.get_has_tooltip():
m = re.findall(r'<!--(\d+),(\d+)-->', c.get_tooltip_markup())
if len(m) > 0:
x1 = int(m[0][0]); y1 = int(m[0][1])
c.set_margin_left(max(0, w * x1/1500))
c.set_margin_top(max(0, h * y1/1000))
# decide if our window is active to mask the cycle-start hardware button
# FIXME: This is probably not as reliable as one might wish.
def event(self,w,event):
if w.is_active():
if w.has_toplevel_focus() :
self.active = True
else:
self.active = False
# Capture notify events
def on_map_event(self, widget, data=None):
top = widget.get_toplevel()
top.connect('notify', self.event)
def on_destroy(self,obj,data=None):
self.ini.save_state(self)
def on_restore_defaults(self,button,data=None):
'''
example callback for 'Reset to defaults' button
currently unused
'''
self.ini.create_default_ini()
self.ini.restore_state(self)
def __init__(self, halcomp,builder,useropts):
self.halcomp = halcomp
self.builder = builder
self.ini_filename = 'savestate.sav'
self.defaults = { IniFile.vars: dict(),
IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(),
hal_only=False,output_only = True))
}
self.ini = IniFile(self.ini_filename,self.defaults,self.builder)
self.ini.restore_state(self)
# A pin to use a physical switch to start the cycle
self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.HAL_BIT, hal.HAL_IN))
self.cycle_start.connect('value-changed', self.cycle_pin)
# This catches the signal from Touchy to say that the tab is exposed
t = self.builder.get_object('macrobox')
t.connect('map-event',self.on_map_event)
t.add_events(Gdk.EventMask.STRUCTURE_MASK)
self.cmd = linuxcnc.command()
# This connects the expose event to re-draw and scale the SVG frames
t = self.builder.get_object('tabs1')
t.connect_after("draw", self.on_expose)
t.connect("destroy", Gtk.main_quit)
t.add_events(Gdk.EventMask.STRUCTURE_MASK)
self.svg = Rsvg.Handle().new_from_file('LatheMacro.svg')
self.active = True
# handle Useropts
if norun:
for c in range(0,6):
print(c)
print( f'tab{c}.action')
self.builder.get_object(f'tab{c}.action').set_visible(False)
def show_keyb(self, obj, data=None):
if notouch: return False
self.active_ctrl = obj
self.keyb = self.builder.get_object('keyboard')
self.entry = self.builder.get_object('entry1')
self.entry.modify_font(Pango.FontDescription("courier 42"))
self.entry.set_text("")
resp = self.keyb.run()
return True
def keyb_prev_click(self, obj, data=None):
self.entry.set_text(self.active_ctrl.get_text())
def keyb_number_click(self, obj, data=None):
data = self.entry.get_text()
data = data + obj.get_label()
if any( x in data for x in [ '/2', '/4', '/8', '/16', '/32', '/64', '/128']):
v = [0] + [float(x) for x in data.replace('/','.').split('.')]
data = f'{v[-3] + v[-2]/v[-1]:6.7}'
self.entry.set_text(data)
def keyb_pm_click(self, obj, data=None):
data = self.entry.get_text()
if data[0] == '-':
data = data[1:]
else:
data = '-' + data
self.entry.set_text(data)
def keyb_convert_click(self, obj, data=None):
v = float(self.entry.get_text())
op = obj.get_label()
if op == 'in->mm':
self.entry.set_text(f'{v * 25.4:6.4}')
elif op == 'mm->in':
self.entry.set_text(f'{v / 25.4:6.4}')
elif op == 'tpi->pitch':
self.entry.set_text(f'{25.4 / v:6.4}')
elif op == 'pitch->tpi':
self.entry.set_text(f'{25.4 / v:6.4}')
def keyb_del_click(self, obj, data=None):
data = self.entry.get_text()
data = data[:-1]
self.entry.set_text(data)
def keyb_clear_click(self, obj, data=None):
self.entry.set_text('')
def keyb_cancel_click(self, obj, data=None):
self.keyb.hide()
def keyb_ok_click(self, obj, data=None):
if self.entry.get_text() != '':
self.active_ctrl.set_value(float(self.entry.get_text()))
self.keyb.hide()
def set_alpha(self, obj, data = None):
cr = obj.get_property('window').cairo_create()
cr.set_source_rgba(1.0, 1.0, 1.0, 0.0)
def cycle_pin(self, pin, data = None):
if pin.get() == 0:
return
if self.active:
nb = self.builder.get_object('tabs1')
print('current tab', nb.get_current_page())
c = self.builder.get_object(f"tab{nb.get_current_page()}.action")
if c is not None:
self.cmd.abort()
self.cmd.mode(linuxcnc.MODE_MDI)
self.cmd.wait_complete()
c.emit('clicked')
print(c.get_name(), "clicked")
def testing(self, obj, data = None):
print('event', data)
def get_handlers(halcomp,builder,useropts):
global debug
for cmd in useropts:
print(cmd)
exec(cmd, globals())
set_debug(debug)
return [HandlerClass(halcomp,builder,useropts)]

2937
linuxcnc/sim.gmoccapy.lathe_configs/lathemacro.ui Executable file
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File diff suppressed because it is too large Load Diff

119
linuxcnc/sim.gmoccapy.lathe_configs/linuxcnc.var Executable file
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@@ -0,0 +1,119 @@
5161 0.000000
5162 0.000000
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5182 0.000000
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5210 0.000000
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5214 0.000000
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5220 1.000000
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5264 0.000000
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119
linuxcnc/sim.gmoccapy.lathe_configs/linuxcnc.var.bak Executable file
View File

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5161 0.000000
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5220 1.000000
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5224 0.000000
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5226 0.000000
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5230 0.000000
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6
linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M101 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=0.1923
MAXRPM=380
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M102 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=0.3189
MAXRPM=630
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M103 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=0.4638
MAXRPM=920
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M104 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=0.8846
MAXRPM=1770
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M105 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=1.4672
MAXRPM=2930
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

6
linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M106 Executable file
View File

@@ -0,0 +1,6 @@
#!/bin/bash
R=2.1334
MAXRPM=4260
halcmd setp scale.0.gain $R
halcmd setp scale.1.gain $(echo "scale=5;1.0 / $R"| bc -q)
exit 0

16
linuxcnc/sim.gmoccapy.lathe_configs/position.txt Executable file
View File

@@ -0,0 +1,16 @@
92.85000059605819445
249.99999999908729365
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000
0.00000000000000000

3
linuxcnc/sim.gmoccapy.lathe_configs/postgui_call_list.hal Executable file
View File

@@ -0,0 +1,3 @@
# These files are loaded post GUI, in the order they appear
source custom_postgui.hal

76
linuxcnc/sim.gmoccapy.lathe_configs/radius.ngc Executable file
View File

@@ -0,0 +1,76 @@
;radius
O<radius> sub
G8 ; Lathe radius Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#6 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = [#<_z>] (starting Z)
G96 D2400 S#2 ; Constant Surface Speed Mode
M3
g95 F0.1 ; Feed-Per-Rev Mode
O90 IF [#12 GT 0.5]
M8
O90 ENDIF
#20 = 0
O101 if [#9 GT 0.5] ; Front outside
o100 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g3 x#1 z[#5 - #20] K[-#20]
g1 x #14
g0 z#13
o100 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g3 x#1 z[#5 - #8] K[-#8]
g1 x #14
g0 z#13
O101 elseif [#10 GT 0.5] ; front inside
o102 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 + #20] z#13
g1 z#5
g2 x#1 z[#5 - #20] K[-#20]
g1 x #14
g0 z#13
o102 endwhile
g0 x#14 z#13
g0 x[#1 + #8]
g1 z#5
g2 x#1 z[#5 - #8] K[-#8]
g1 x #14
g0 z#13
O101 elseif [#11 GT 0.5] ; back outside
o103 while [[#20 + #3] lt #8]
#20 = [#20 + #3]
g0 x[#1 - #20] z#13
g1 z#5
g2 x#1 z[#5 + #20] K#20
g1 x #14
g0 z#13
o103 endwhile
g0 x#14 z#13
g0 x[#1 - #8]
g1 z#5
g2 x#1 z[#5 + #8] K#8
g1 x #14
g0 z#13
O101 endif
M5 M9
G7
O<radius> endsub
m2
%

71
linuxcnc/sim.gmoccapy.lathe_configs/savestate.sav Executable file
View File

@@ -0,0 +1,71 @@
# generated by gladevcp.persistence.create_default_ini() on Tue Jul 12 01:49:47 2022
[ini]
signature = a9fe768b61bb9201e86d89ad226616650f20e7ac
version = 1
[vars]
[widgets]
chamfer.fi = False
chamfer.fo = False
turn.rad = 3.0
groove.coolant = True
turn.z = 120.0
turn.x = 15.0
drill.dia = 10.0
radius.x = 0.0
radius.z = 0.0
thread.pitch = 1.0
turn.feed = 0.15
thread.x = 6.0
bore.rad = 0.0
radius.coolant = False
radius.bo = False
thread.z = 0.0
face.coolant = False
drill.peck = 2.0
face.cut = 2.8999999999999977
radius.rad = 1.0
thread.internal = False
face.sf = 0.0
bore.sf = 100.0
turn.tool = 1.0
face.feed = 0.15
chamfer.tool = 1.0
chamfer.bo = True
groove.sf = 100.0
thread.tool = 5.0
groove.feed = 0.03
bore.feed = 0.15
radius.sf = 100.0
chamfer.x = 0.0
chamfer.z = 0.0
thread.external = True
turn.coolant = True
face.z = 0.0
bore.x = 0.0
bore.z = 0.0
groove.x = 0.0
face.tool = 1.0
face.x = 0.0
chamfer.size = 1.0
turn.cut = 1.0
drill.coolant = True
chamfer.sf = 100.0
bore.tool = 1.0
groove.tool = 4.0
face.angle = 0.0
bore.coolant = True
drill.feed = 0.020000000000000004
drill.z = 0.0
turn.sf = 60.0
thread.sf = 60.0
radius.fo = False
turn.angle = 0.0
thread.coolant = False
bore.cut = 1.0
radius.fi = True
drill.tool = 3.0
drill.sf = 100.0
radius.tool = 1.0
bore.angle = 0.0
chamfer.coolant = False
# last update by gladevcp.persistence.save_state() on Thu Dec 28 23:36:07 2023

2
linuxcnc/sim.gmoccapy.lathe_configs/shutdown.hal Executable file
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@@ -0,0 +1,2 @@
# Include your shutdown HAL commands here
# This file will not be overwritten when you run PNCconf again

119
linuxcnc/sim.gmoccapy.lathe_configs/sim.var Executable file
View File

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5161 0.000000
5162 0.000000
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5164 0.000000
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5330 0.000000
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5348 0.000000
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5350 0.000000
5361 0.000000
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5364 0.000000
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5381 0.000000
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5384 0.000000
5385 0.000000
5386 0.000000
5387 0.000000
5388 0.000000
5389 0.000000
5390 0.000000

119
linuxcnc/sim.gmoccapy.lathe_configs/sim.var.bak Executable file
View File

@@ -0,0 +1,119 @@
5161 0.000000
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5210 0.000000
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5212 0.000000
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5215 0.000000
5216 0.000000
5217 0.000000
5218 0.000000
5219 0.000000
5220 1.000000
5221 0.000000
5222 0.000000
5223 0.000000
5224 0.000000
5225 0.000000
5226 0.000000
5227 0.000000
5228 0.000000
5229 0.000000
5230 0.000000
5241 0.000000
5242 0.000000
5243 0.000000
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5245 0.000000
5246 0.000000
5247 0.000000
5248 0.000000
5249 0.000000
5250 0.000000
5261 0.000000
5262 0.000000
5263 0.000000
5264 0.000000
5265 0.000000
5266 0.000000
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5268 0.000000
5269 0.000000
5270 0.000000
5281 0.000000
5282 0.000000
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5284 0.000000
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5289 0.000000
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5301 0.000000
5302 0.000000
5303 0.000000
5304 0.000000
5305 0.000000
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5307 0.000000
5308 0.000000
5309 0.000000
5310 0.000000
5321 0.000000
5322 0.000000
5323 0.000000
5324 0.000000
5325 0.000000
5326 0.000000
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5328 0.000000
5329 0.000000
5330 0.000000
5341 0.000000
5342 0.000000
5343 0.000000
5344 0.000000
5345 0.000000
5346 0.000000
5347 0.000000
5348 0.000000
5349 0.000000
5350 0.000000
5361 0.000000
5362 0.000000
5363 0.000000
5364 0.000000
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5381 0.000000
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5387 0.000000
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5389 0.000000
5390 0.000000

21
linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe.hal Executable file
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loadrt comp names=comp_x,comp_z
addf comp_x servo-thread
addf comp_z servo-thread
net Xhomeswpos => comp_x.in0
net Zhomeswpos => comp_z.in0
sets Xhomeswpos 1
sets Zhomeswpos 2
net Xpos => comp_x.in1
net Zpos => comp_z.in1
setp comp_x.hyst .02
setp comp_z.hyst .02
net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Zhomesw <= comp_z.out => joint.1.home-sw-in

21
linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe_CW.hal Executable file
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loadrt comp names=comp_x,comp_z
addf comp_x servo-thread
addf comp_z servo-thread
net Xhomeswpos => comp_x.in0
net Zhomeswpos => comp_z.in0
sets Xhomeswpos 1
sets Zhomeswpos 2
net Xpos => comp_x.in1
net Zpos => comp_z.in1
setp comp_x.hyst .02
setp comp_z.hyst .02
net Xhomesw <= comp_x.out => joint.0.home-sw-in
net Zhomesw <= comp_z.out => joint.1.home-sw-in

69
linuxcnc/sim.gmoccapy.lathe_configs/spindle_sim.hal Executable file
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# counting the spindle encoder in software
loadrt encoder names=encoder_0
# simulate the encoder
loadrt sim_encoder names=sim_encoder_0
loadrt limit2 names=limit_speed
addf limit_speed servo-thread
#######################################################
# Beginning of threading related stuff
#######################################################
# spindle speed control
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in
net spindle-speed-limited limit_speed.out => sim_encoder_0.speed
# simulate spindle mass
setp limit_speed.maxv 3000.0 # rpm/second
# spindle encoder
# connect encoder signals to encoder counter
net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z
# assume 120 ppr = 480 counts/rev for the spindle
setp sim_encoder_0.ppr 12
# iocontrol output is in rpm, but sim-encoder speed is rps
setp sim_encoder_0.scale 60
# scale encoder output to read in revolutions
# (that way thread pitches can be straightforward,
# a 20 tpi thread would multiply the encoder output
# by 1/20, etc)
setp encoder_0.position-scale 48
# encoder reset control
# hook up motion controller's sync output
net spindle-index-enable spindle.0.index-enable <=> encoder_0.index-enable
# report our revolution count to the motion controller
net spindle-pos encoder_0.position => spindle.0.revs
# for spindle velocity estimate
loadrt lowpass names=lowpass_velocity
loadrt scale names=scale_to_rpm
net spindle-rps-raw encoder_0.velocity lowpass_velocity.in
net spindle-rps-filtered lowpass_velocity.out scale_to_rpm.in spindle.0.speed-in
net spindle-rpm-filtered scale_to_rpm.out
setp scale_to_rpm.gain 60
setp lowpass_velocity.gain .07
addf lowpass_velocity servo-thread
addf scale_to_rpm servo-thread
# for at-speed detection
loadrt near names=near_speed
addf near_speed servo-thread
setp near_speed.scale 1.1
setp near_speed.difference 10
net spindle-speed-cmd => near_speed.in1
net spindle-rpm-filtered => near_speed.in2
net spindle-at-speed near_speed.out spindle.0.at-speed
net spindle-fwd <= spindle.0.forward
addf encoder.capture-position servo-thread
addf sim-encoder.update-speed servo-thread
addf sim-encoder.make-pulses base-thread
addf encoder.update-counters base-thread

59
linuxcnc/sim.gmoccapy.lathe_configs/threading.ngc Executable file
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;threading
O<threading> sub
G7 ; Lathe Diameter Mode
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
M6 T#3 G43
#14 = [#<_x> * 2] (starting X)
#13 = #<_z> (starting Z)
G96 D200 S#2 ; Constant Surface Speed Mode
M3
g95 F0.25 ; Feed-Per-Rev Mode
O90 IF [#8 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
;Threading
O51 IF [#6 GT 0.5]
#<OD> = [#1]
#<ID> = [#1 - 1.3 * #4]
;g1X [#<ID> - 1] ;thread truncation
;g0 Z #13
;g1 X #<ID>
;g1 Z #5
G0 X[#<ID> - 1]
g0 Z #13
#3 = [#4 * 1.3]
(debug, INTERNAL Threading thread dia-#1 start-#13 finish-#5 Pitch-#4 Depth-#3)
g1X [#<ID> - 1]
g76 p#4 z#5 i1 j1 k#3 h3 r1.5 q29.5 e0 l0
O51 ELSE
#<OD> = [#1 - 0.108 * #4]
#<ID> = [#1 - 1.0825 * #4]
(debug, EXTERNAL Threading OD = #<OD> ID = #<ID>)
#3 = [#4 * 1.0825]
g1X [#<OD> + 1] ;final thread truncation
g0 z#13
g1 X #<OD>
g1 Z #5
G0 X[#<OD> +1]
G0 Z #13
g76 p#4 z#5 i-1 j1 k#3 h3 r1.5 q29.5 e0 l0
O51 ENDIF
G0 Z #13
m5 M9
O<threading> endsub
M2

19
linuxcnc/sim.gmoccapy.lathe_configs/tool.tbl Executable file
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T1 P1 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;# rh turning
T2 P2 X-25.3242 Y0.0 Z15.924 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I80.0 J20.0 Q3.0 ;
T3 P3 X-15.4825 Y0.0 Z258.6854 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D3.0 I90.0 J90.0 Q6.0 ;
T4 P4 X-0.5336 Y0.0 Z54.9583 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I87.0 J40.0 Q2.0 ;
T5 P5 X-15.0582 Y0.0 Z117.9963 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I60.0 J200.0 Q5.0 ;
T6 P6 X2.6969 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.5 I120.0 J70.0 Q6.0 ;# threading
T7 P7 X-8.408 Y0.0 Z13.7459 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.8 I107.5 J77.5 Q6.0 ;# vcmt110304
T8 P8 X-11.16 Y0.0 Z-31.05 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I200.0 J300.0 Q8.0 ;
T9 P9 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I0.0 J0.0 Q9.0 ;
T10 P10 X-0.07 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T11 P11 X-23.0718 Y0.0 Z-3.7292 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T12 P12 X-1.8392 Y0.0 Z-3.8279 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T13 P13 X-10.8533 Y0.0 Z-6.2652 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;
T14 P14 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I300.0 J200.0 Q4.0 ;
T15 P15 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I200.0 J200.0 Q5.0 ;
T16 P16 X-15.13 Y0.0 Z14.91 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I100.0 J60.0 Q6.0 ;
T17 P17 X-15.14 Y0.0 Z5.992 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I-30.0 J30.0 Q7.0 ;
T18 P18 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I200.0 J300.0 Q8.0 ;
T19 P19 X29.7817 Y0.0 Z-21.8231 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.0 I0.0 J0.0 Q9.0 ;

66
linuxcnc/sim.gmoccapy.lathe_configs/turning.ngc Executable file
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;Turning
O<turning> sub
G8 ; Radius mode (easier maths)
G18 ; XZ Plane
G21 ; Metric Units
G90 ; Absolute Distance
G91.1 ; but not for arcs
M6 T#8 G43
#1 = [#1 / 2] ; because of radius mode
#14 = [#<_x>] (starting X)
#13 = #<_z> (starting Z)
#20 = [#6 * SIN[#7]]
#21 = [#6 * COS[#7]]
#22 = [#6 / COS[#7]]
#23 = [#5 + #6 - #20]
#24 = [[#13 - #23] * TAN[#7]]
G96 D2500 S#2 ; Constant Surface Speed Mode
m3 ;Start Spindle
g95 F#4 ; Feed-Per-Rev Mode
O90 IF [#9 GT 0.5]
M8
O90 ENDIF
g4p1 ; Wait to reach speed
O100 WHILE [#14 GT [#1 + #3 / 2]]
g0 X #14
#14=[#14-#3 / 2]
G1 X #14
G1 Z #23 X[#14 + #24]
O101 IF [#6 GT 0]
G2 Z#5 X[#14 + #24 + #21] I#21 K#20
G1 X[#14 + #24 + #21 + #3/2]
O101 ELSE
G1 X[#14 + #24 + [#3 * .6]]
O101 ENDIF
O104 IF [#7 LT 0]
G0 X#14
O104 ENDIF
G0 Z[#13]
O100 ENDWHILE
G0 x#1
G1 Z #23 X[#1 + #24]
O102 IF [#6 GT 0]
G2 Z#5 X[#1 + #24 + #21] I#21 K#20
G1 X[#1 + #24 + #21 + #3]
O102 ELSE
G1 X[#1 + #24 + #3]
O102 ENDIF
O106 IF [#7 LT 0]
G0 X#14
O106 ENDIF
M9
G0 Z #13
G0 X #1 ; For touch-off
M5
G7
O<turning> endsub
M2