diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/.gitignore b/linuxcnc/sim.gmoccapy.lathe_configs/.gitignore new file mode 100755 index 0000000..b25c15b --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/.gitignore @@ -0,0 +1 @@ +*~ diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/LatheMacro.svg b/linuxcnc/sim.gmoccapy.lathe_configs/LatheMacro.svg new file mode 100755 index 0000000..dc974c4 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/LatheMacro.svg @@ -0,0 +1,3057 @@ + +image/svg+xml diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/README b/linuxcnc/sim.gmoccapy.lathe_configs/README new file mode 100755 index 0000000..da5d6cf --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/README @@ -0,0 +1,72 @@ +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: + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/ethercat_end.hal b/linuxcnc/sim.gmoccapy.lathe_configs/ethercat_end.hal new file mode 100755 index 0000000..b61ece0 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/ethercat_end.hal @@ -0,0 +1 @@ +addf lcec.write-all servo-thread diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/facing.ngc b/linuxcnc/sim.gmoccapy.lathe_configs/facing.ngc new file mode 100755 index 0000000..341bc61 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/facing.ngc @@ -0,0 +1,45 @@ +;Facing +O 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 endsub +M2 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe.pref b/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe.pref new file mode 100755 index 0000000..9b9f354 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe.pref @@ -0,0 +1,81 @@ +[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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe_c.pref b/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe_c.pref new file mode 100755 index 0000000..483f557 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_lathe_c.pref @@ -0,0 +1,72 @@ +[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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_postgui.hal b/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_postgui.hal new file mode 100755 index 0000000..aa8a9d7 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/gmoccapy_postgui.hal @@ -0,0 +1,23 @@ +################################################################### +# 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 \ No newline at end of file diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/grooving.ngc b/linuxcnc/sim.gmoccapy.lathe_configs/grooving.ngc new file mode 100755 index 0000000..475da84 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/grooving.ngc @@ -0,0 +1,32 @@ +;grooving + +O 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 endsub + +M2 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/README b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/README new file mode 100755 index 0000000..596828d --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/README @@ -0,0 +1,70 @@ +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) diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/axis_manualtoolchange.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/axis_manualtoolchange.hal new file mode 100755 index 0000000..45dbe63 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/axis_manualtoolchange.hal @@ -0,0 +1,10 @@ +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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/basic_sim.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/basic_sim.tcl new file mode 100755 index 0000000..22bcebb --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/basic_sim.tcl @@ -0,0 +1,71 @@ +# 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 $save_options diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl new file mode 100755 index 0000000..d18b833 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_config.tcl @@ -0,0 +1,240 @@ +# check_config.tcl +# Usage: tclsh path_to_this_file inifilename +# if a check fails, print message and exit 1 +# +# checks: +# 1) mandatory items per ::mandatory_items list +# 2) if trivkins, check consistency of [JOINT_] and [AXIS_] +# MIN_LIMIT and MAX_LIMIT +#---------------------------------------------------------------------- +set ::mandatory_items {KINS KINEMATICS + KINS JOINTS + } +# Ref: src/emc/nml_intf/emccfg.h,src/emc/ini/inijoint.cc,src/emc/iniaxis.cc: +set ::DEFAULT_AXIS_MAX_VELOCITY 1.0 +set ::DEFAULT_AXIS_MAX_ACCELERATION 1.0 +set ::DEFAULT_JOINT_MAX_VELOCITY 1.0 +set ::DEFAULT_JOINT_MAX_ACCELERATION 1.0 + +# Ref: src/emc/ini/iniaxis.cc: +set ::DEFAULT_AXIS_MIN_LIMIT -1e99 +set ::DEFAULT_AXIS_MAX_LIMIT +1e99 +#---------------------------------------------------------------------- +proc warnings msg { + puts -nonewline "\n$::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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_xyz_constraints.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_xyz_constraints.hal new file mode 100755 index 0000000..c2a4320 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/check_xyz_constraints.hal @@ -0,0 +1,63 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_servo.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_servo.hal new file mode 100755 index 0000000..166a46b --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_servo.hal @@ -0,0 +1,74 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim.hal new file mode 100755 index 0000000..4bdf936 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim.hal @@ -0,0 +1,51 @@ +# 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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim9.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim9.hal new file mode 100755 index 0000000..3146afc --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_sim9.hal @@ -0,0 +1,67 @@ +#!!! 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_stepper.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_stepper.hal new file mode 100755 index 0000000..b911393 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/core_stepper.hal @@ -0,0 +1,53 @@ +# 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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/gantrysim.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/gantrysim.hal new file mode 100755 index 0000000..77e9d55 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/gantrysim.hal @@ -0,0 +1,35 @@ +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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/hal_procs_lib.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/hal_procs_lib.tcl new file mode 100755 index 0000000..6347d5d --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/hal_procs_lib.tcl @@ -0,0 +1,190 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/halcheck.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/halcheck.tcl new file mode 100755 index 0000000..af58589 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/halcheck.tcl @@ -0,0 +1,171 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/hookup_moveoff.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/hookup_moveoff.tcl new file mode 100755 index 0000000..38f4cfa --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/hookup_moveoff.tcl @@ -0,0 +1,316 @@ +# 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 +# +# 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 +} diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/lathe.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/lathe.hal new file mode 100755 index 0000000..1e8b3ca --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/lathe.hal @@ -0,0 +1,69 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/locking_indexer.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/locking_indexer.hal new file mode 100755 index 0000000..5a147fa --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/locking_indexer.hal @@ -0,0 +1,11 @@ +# 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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/moveoff_external.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/moveoff_external.hal new file mode 100755 index 0000000..92c205a --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/moveoff_external.hal @@ -0,0 +1,28 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/plasmac.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/plasmac.tcl new file mode 100755 index 0000000..77db473 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/plasmac.tcl @@ -0,0 +1,79 @@ + +# ***** 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]} diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/qtplasmac_comp.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/qtplasmac_comp.hal new file mode 100755 index 0000000..f3fc216 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/qtplasmac_comp.hal @@ -0,0 +1,51 @@ + +# ***** 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/servo_sim.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/servo_sim.hal new file mode 100755 index 0000000..7e3ac85 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/servo_sim.hal @@ -0,0 +1,285 @@ +# 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..Pgain " +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_ldelta.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_ldelta.hal new file mode 100755 index 0000000..01a4248 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_ldelta.hal @@ -0,0 +1,43 @@ +# 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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_lib.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_lib.tcl new file mode 100755 index 0000000..7d98add --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_lib.tcl @@ -0,0 +1,498 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_rdelta.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_rdelta.hal new file mode 100755 index 0000000..efe3b6b --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_rdelta.hal @@ -0,0 +1,42 @@ +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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_spindle_encoder.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_spindle_encoder.hal new file mode 100755 index 0000000..e0fcde6 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/sim_spindle_encoder.hal @@ -0,0 +1,45 @@ +# 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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated-gantry-home.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated-gantry-home.hal new file mode 100755 index 0000000..dd31c9e --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated-gantry-home.hal @@ -0,0 +1,47 @@ + +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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_home.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_home.hal new file mode 100755 index 0000000..3422569 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_home.hal @@ -0,0 +1,32 @@ +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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_limits.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_limits.hal new file mode 100755 index 0000000..070051f --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/simulated_limits.hal @@ -0,0 +1,76 @@ +# 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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/tripodsim.hal b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/tripodsim.hal new file mode 100755 index 0000000..2b29487 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/tripodsim.hal @@ -0,0 +1,55 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/util_lib.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/util_lib.tcl new file mode 100755 index 0000000..6a0c731 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/util_lib.tcl @@ -0,0 +1,62 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/var_show.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/var_show.tcl new file mode 100755 index 0000000..8ee7561 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/var_show.tcl @@ -0,0 +1,14 @@ +# 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] diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/wheeljogpins.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/wheeljogpins.tcl new file mode 100755 index 0000000..18ea580 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/wheeljogpins.tcl @@ -0,0 +1,20 @@ +# 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 + } +} diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout1.cfg b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout1.cfg new file mode 100755 index 0000000..6a77415 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout1.cfg @@ -0,0 +1,17 @@ +[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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout2.cfg b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout2.cfg new file mode 100755 index 0000000..d844658 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04-layout2.cfg @@ -0,0 +1,19 @@ +[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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04.tcl b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04.tcl new file mode 100755 index 0000000..5232eb9 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/hallib/xhc-hb04.tcl @@ -0,0 +1,594 @@ +# 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 +# +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/halshow.preferences b/linuxcnc/sim.gmoccapy.lathe_configs/halshow.preferences new file mode 100755 index 0000000..310fce1 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/halshow.preferences @@ -0,0 +1,24 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe.ini b/linuxcnc/sim.gmoccapy.lathe_configs/lathe.ini new file mode 100755 index 0000000..e6cffcb --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe.ini @@ -0,0 +1,160 @@ +# 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 + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe.pref b/linuxcnc/sim.gmoccapy.lathe_configs/lathe.pref new file mode 100755 index 0000000..d58a1da --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe.pref @@ -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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe.tbl b/linuxcnc/sim.gmoccapy.lathe_configs/lathe.tbl new file mode 100755 index 0000000..bd538b5 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe.tbl @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe_C.ini b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_C.ini new file mode 100755 index 0000000..6adbccb --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_C.ini @@ -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 + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe_CW.ini b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_CW.ini new file mode 100755 index 0000000..7b16666 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_CW.ini @@ -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 + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe_backtool.ini b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_backtool.ini new file mode 100755 index 0000000..3ec2f6a --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_backtool.ini @@ -0,0 +1,160 @@ +# 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 + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe_c.pref b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_c.pref new file mode 100755 index 0000000..c4dadc1 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_c.pref @@ -0,0 +1,73 @@ +[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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe_cw.pref b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_cw.pref new file mode 100755 index 0000000..6ca7186 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_cw.pref @@ -0,0 +1,72 @@ +[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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.ini b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.ini new file mode 100755 index 0000000..4629d00 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.ini @@ -0,0 +1,160 @@ +# 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 ------------------------------------------------ diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.pref b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.pref new file mode 100755 index 0000000..d261f5c --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_imperial.pref @@ -0,0 +1,71 @@ +[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 + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathe_macros.ini b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_macros.ini new file mode 100755 index 0000000..ca358f6 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathe_macros.ini @@ -0,0 +1,165 @@ +# 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 + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathehandler.py b/linuxcnc/sim.gmoccapy.lathe_configs/lathehandler.py new file mode 100755 index 0000000..86a2091 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathehandler.py @@ -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'', 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)] + + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/lathemacro.ui b/linuxcnc/sim.gmoccapy.lathe_configs/lathemacro.ui new file mode 100755 index 0000000..f9261e8 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/lathemacro.ui @@ -0,0 +1,2937 @@ + + + + + + + -89 + 89 + 1 + 10 + + + 100 + 1 + 10 + + + 6 + 0.14999999999999999 + 0.029999999999999999 + + + 100 + 10 + + + 200 + 100 + 10 + 10 + + + 100 + 1 + 1 + 10 + + + -1000 + 1000 + 10 + + + -1000 + 1000 + 1 + 10 + + + 250 + 1 + 0.25 + 10 + + + -20 + 250 + 1 + 10 + + + 200 + 100 + 10 + 10 + + + 100 + 1 + 1 + 10 + + + -2000 + 2000 + 1 + + + -2000 + 2000 + 10 + 1 + + + 2 + 0.050000000000000003 + 0.029999999999999999 + + + 2 + 50 + 2 + 0.5 + + + 200 + 100 + 10 + 10 + + + 100 + 1 + 1 + 10 + + + -2000 + 2000 + 1 + + + -89 + 89 + 1 + 10 + + + 20 + 1 + 0.050000000000000003 + 10 + + + 6 + 0.14999999999999999 + 0.02 + 10 + + + 100 + 250 + 10 + 10 + + + 100 + 1 + 1 + 10 + + + -1000 + 1000 + 1 + 10 + + + -1000 + 1000 + 1 + 10 + + + 2 + 0.029999999999999999 + 0.029999999999999999 + + + 200 + 100 + 10 + 10 + + + 100 + 9 + 1 + 10 + + + -2000 + 2000 + 1 + + + 250 + 1 + 0.25 + 10 + + + -20 + 250 + 1 + 10 + + + 200 + 100 + 10 + 10 + + + 100 + 1 + 1 + 10 + + + -2000 + 2000 + 1 + + + 25 + 1 + 0.25 + + + 200 + 50 + 10 + 10 + + + 100 + 5 + 1 + 10 + + + -2000 + 2000 + 1 + + + -2000 + 2000 + 1 + + + -90 + 90 + 1 + 10 + + + 3 + 1 + 0.01 + 10 + + + 2 + 0.14999999999999999 + 0.029999999999999999 + + + 100 + 1 + 10 + + + 20 + 500 + 100 + 10 + 10 + + + 100 + 1 + 1 + 10 + + + -20 + 250 + 15 + 1 + 10 + + + -2000 + 2000 + 1 + + + gtk-media-play + O<boring> call [${bore.x-f}] [${bore.sf-f}] [${bore.cut-f}] [${bore.feed-f}] [${bore.z-f}] [${bore.rad-f}] [${bore.angle-f}] [${bore.tool-s}] [${bore.coolant}] + + + Set Tool + M61 Q${bore.tool-s} G43 H${bore.tool-s} + + + O<chamfer>call [${chamfer.x-f}] [${chamfer.sf-f}] [0.5] [0] [${chamfer.z-f}] [${chamfer.tool-s}] [0] [${chamfer.size-f}] [${chamfer.fo}] [${chamfer.fi}] [${chamfer.bo}] [${chamfer.coolant}] + + + M61 Q${chamfer.tool-s} G43 H${chamfer.tool-s} + + + O<drilling> call [${drill.dia-f}] [${drill.sf-f}] [${drill.feed-f}] [${drill.z-f}] [${drill.peck-f}] [${drill.tool-s}] [${drill.coolant}] + + + Set Tool + Set Tool + M61 Q${drill.tool-s} G43 H${drill.tool-s} + + + O<facing>call [${face.x-f}] [${face.sf-f}] [${face.cut-f}] [${face.feed-f}] [${face.z-f}] [${face.angle-s}] [${face.tool-s}] [${face.coolant}] + + + Set Tool + M61 Q${face.tool-s} G43 H${face.tool-s} + + + O<grooving> call [${groove.x-f}] [${groove.sf-f}] [${groove.feed-f}] [${groove.tool-s}] [${groove.coolant}] + + + Set Tool + Set Tool + M61 Q${groove.tool-s} G43 H${groove.tool-s} + + + False + 5 + dialog + + + + + + True + False + 2 + + + True + False + end + + + OK + 100 + 50 + True + True + True + + + + False + False + 0 + + + + + Cancel + 100 + 50 + True + True + True + + + + False + False + 1 + + + + + False + True + end + 0 + + + + + 60 + True + True + ● + False + False + + + False + False + 1 + + + + + True + False + 5 + 4 + + + 1 + 50 + 50 + True + True + True + + + + + + 2 + 50 + 20 + True + True + True + + + + 1 + 2 + + + + + 3 + 50 + 20 + True + True + True + + + + 2 + 3 + + + + + DEL + 50 + 20 + True + True + True + + + + 3 + 4 + + + + + 4 + 50 + 50 + True + True + True + + + + 1 + 2 + + + + + 5 + 50 + 20 + True + True + True + + + + 1 + 2 + 1 + 2 + + + + + 6 + 50 + 20 + True + True + True + + + + 2 + 3 + 1 + 2 + + + + + CLR + 50 + 20 + True + True + True + + + + 3 + 4 + 1 + 2 + + + + + 7 + 50 + 50 + True + True + True + + + + 2 + 3 + + + + + 8 + 50 + 20 + True + True + True + + + + 1 + 2 + 2 + 3 + + + + + 9 + 50 + 20 + True + True + True + + + + 2 + 3 + 2 + 3 + + + + + PREV + 50 + 20 + True + True + True + + + + 3 + 4 + 2 + 3 + + + + + +/- + 50 + 50 + True + True + True + + + + 3 + 4 + + + + + 0 + 50 + 20 + True + True + True + + + + 1 + 2 + 3 + 4 + + + + + . + 50 + 20 + True + True + True + + + + 2 + 3 + 3 + 4 + + + + + / + 50 + 20 + True + True + True + + + + 3 + 4 + 3 + 4 + + + + + in->mm + 80 + 40 + True + True + True + + + + 4 + 5 + 4 + 4 + + + + + mm->in + 80 + 40 + True + True + True + + + + 1 + 2 + 4 + 5 + 4 + 4 + + + + + pitch->tpi + 80 + 40 + True + True + True + + + + 2 + 3 + 4 + 5 + 4 + 4 + + + + + tpi->pitch + 80 + 40 + True + True + True + + + + 3 + 4 + 4 + 5 + 4 + 4 + + + + + True + True + 2 + + + + + + button23 + button24 + + + + O<radius> call [${radius.x-f}] [${radius.sf-f}] [0.5] [0][${radius.z-f}] [${radius.tool-s}] [0] [${radius.rad-f}] [${radius.fo}] [${radius.fi}] [${radius.bo}] [${radius.coolant}] + + + Set Tool + M61 Q${radius.tool-s} G43 H${radius.tool-s} + + + O<threading>call [${thread.x-f}] [${thread.sf-f}] [${thread.tool-s}] [${thread.pitch-f}] [${thread.z-f}] [${thread.internal}] [${thread.external}] [${thread.coolant}] + + + M61 Q${thread.tool-s} G43 H${thread.tool-s} + + + O<turning> call [${turn.x-f}] [${turn.sf-f}] [${turn.cut-f}] [${turn.feed-f}] [${turn.z-f}] [${turn.rad-f}] [${turn.angle-f}] [${turn.tool-s}] [${turn.coolant}] + + + Set Tool + M61 Q${turn.tool-s} G43 H${turn.tool-s} + + + False + GDK_EXPOSURE_MASK | GDK_STRUCTURE_MASK + 200 + 100 + False + + + + + + True + False + + False + + + True + True + GDK_EXPOSURE_MASK | GDK_POINTER_MOTION_MASK | GDK_POINTER_MOTION_HINT_MASK | GDK_BUTTON_MOTION_MASK | GDK_BUTTON1_MOTION_MASK | GDK_BUTTON2_MOTION_MASK | GDK_BUTTON3_MOTION_MASK | GDK_BUTTON_PRESS_MASK | GDK_BUTTON_RELEASE_MASK | GDK_KEY_PRESS_MASK | GDK_KEY_RELEASE_MASK | GDK_ENTER_NOTIFY_MASK | GDK_LEAVE_NOTIFY_MASK | GDK_FOCUS_CHANGE_MASK | GDK_STRUCTURE_MASK | GDK_PROPERTY_CHANGE_MASK | GDK_VISIBILITY_NOTIFY_MASK | GDK_PROXIMITY_IN_MASK | GDK_PROXIMITY_OUT_MASK | GDK_SUBSTRUCTURE_MASK | GDK_SCROLL_MASK + left + + + + True + False + + + True + False + gtk-missing-image + + + -1 + + + + + 50 + 20 + True + True + <!--1000,654-->Finish Diameter + start + start + ● + 7 + 0.000 + False + False + False + TurnXAdj + 4 + True + + + + + + 50 + 20 + True + True + <!--635,687-->Feed per Rev + start + start + ● + 5 + 0.000 + False + False + TurnFeedAdj + 3 + True + + + + 1 + + + + + 50 + 20 + True + True + <!--800,230-->End Radius + start + start + ● + 5 + 0.000 + False + False + TurnRadAdj + 4 + True + + + + 2 + + + + + 50 + 20 + True + True + <!--821,863-->Cut per pass + start + start + ● + 5 + 0.000 + False + False + TurnCutAdj + 3 + True + + + + 3 + + + + + 50 + 20 + True + True + <!--125,424-->Finish Z + start + start + ● + 7 + 0.000 + False + False + TurnZAdj + 4 + True + + + + 4 + + + + + 50 + 20 + True + True + <!--520,474-->Taper angle + start + start + ● + 5 + 0.0000 + False + False + False + TurnAngAdj + 3 + True + + + + 5 + + + + + 100 + 40 + True + False + end + end + + + gtk-media-play + False + turn.go + 50 + 20 + True + True + True + True + + + + + 10 + + + + + True + False + end + start + + + 50 + 20 + True + True + ● + 0 + False + False + TurnToolAdj + + + + 1 + 0 + + + + + Set Tool + turn.toolchange + 50 + 20 + True + True + True + True + + + 0 + 0 + + + + + True + False + center + Speed + 1 + + + 0 + 1 + + + + + 50 + 20 + True + True + end + start + ● + 5 + 20 + False + False + TurnSFAdj + 20 + + + + 1 + 1 + + + + + Coolant + True + True + False + True + + + 1 + 2 + + + + + + + + 11 + + + + + False + + + + + True + False + Turning + + + False + + + + + True + False + + + True + False + gtk-missing-image + + + -1 + + + + + 50 + 20 + True + True + <!--700,280-->Taper Angle + start + start + ● + 5 + 0.0000 + False + False + BoreAngleAdj + 3 + + + + + + 50 + 20 + True + True + <!--421,520-->Run-out radius + start + start + ● + 5 + 0.000 + False + False + BoreRadAdj + 4 + + + + 1 + + + + + 50 + 20 + True + True + <!--1080,616-->Finish Diameter + start + start + ● + 7 + 0.000 + False + False + BoreXAdj + 4 + + + + 2 + + + + + 50 + 20 + True + True + <!--900,825-->Diameter Increment + start + start + ● + 5 + 0.000 + False + False + BoreCutAdj + 4 + + + + 3 + + + + + 50 + 20 + True + True + <!--530,820-->Feed per rev + start + start + ● + 5 + 0.000 + False + False + BoreFeedAdj + 4 + + + + 4 + + + + + 100 + 40 + True + False + end + end + + + gtk-media-play + False + bore.go + 50 + 20 + True + True + True + True + True + + + + + 7 + + + + + 50 + 20 + True + True + <!--273,267-->Finish Z + start + start + ● + 7 + 0.000 + False + False + BoreZAdj + 4 + + + + 9 + + + + + True + False + end + start + + + 50 + 20 + True + True + end + start + ● + 5 + 0 + False + False + BoreSFAdj + + + + 1 + 1 + + + + + 50 + 20 + True + True + ● + 0 + False + False + BoreToolAdj + + + + 1 + 0 + + + + + Set Tool + bore.toolchange + 50 + 20 + True + True + True + True + + + 0 + 0 + + + + + True + False + center + Speed + 1 + + + 0 + 1 + + + + + Coolant + True + True + False + True + + + 1 + 2 + + + + + + + + 11 + + + + + 1 + False + + + + + True + False + Boring + + + 1 + False + + + + + True + False + + + True + False + gtk-missing-image + + + -1 + + + + + 50 + 20 + True + True + <!--156,404-->Finish Z + start + start + ● + 7 + 0.000 + False + False + FaceZAdj + 4 + + + + 2 + + + + + 50 + 20 + True + True + <!--1115,626-->Finish Diameter + start + start + ● + 7 + 0.000 + False + False + FaceXAdj + 4 + + + + 3 + + + + + 50 + 20 + True + True + <!--876,886-->Feed per Rev + start + start + ● + 5 + 0.0000 + False + False + FaceFeedAdj + 3 + + + + 4 + + + + + 50 + 20 + True + True + <!--408,760-->Cut per pass + start + start + ● + 5 + 0.000 + False + False + FaceCutAdj + 3 + + + + 5 + + + + + 50 + 20 + True + True + <!--1044,364-->Face Angle + start + start + ● + 5 + 0.0000 + False + False + FaceAngleAdj + 3 + + + + 6 + + + + + 100 + 40 + True + False + end + end + False + + + gtk-media-play + False + face.go + 50 + 20 + True + True + True + True + True + + + + + 9 + + + + + True + False + end + start + + + 50 + 20 + True + True + end + start + ● + 5 + 0 + False + False + FaceSFAdj + + + + 1 + 1 + + + + + 50 + 20 + True + True + ● + 0 + False + False + FaceToolAdj + + + + 1 + 0 + + + + + Set Tool + face.toolchange + 50 + 20 + True + True + True + True + + + 0 + 0 + + + + + True + False + center + Speed + 1 + + + 0 + 1 + + + + + Coolant + True + True + False + True + + + 1 + 2 + + + + + + + + 10 + + + + + Face + 2 + False + + + + + True + False + Facing + + + 2 + False + + + + + True + False + + + True + False + gtk-missing-image + + + -1 + + + + + 50 + 20 + True + True + <!--1018,674-->Radius Inner or Outer Diameter + start + start + ● + 7 + 0.000 + False + False + RadXAdj + 4 + + + + + + 50 + 20 + True + True + <!--202,334-->Radius Z position + start + start + ● + 7 + 0.000 + False + False + RadiusZAdj + 4 + + + + 1 + + + + + 50 + 20 + True + True + <!--848,451-->Radius + start + start + ● + 5 + 0.000 + False + False + RadRadAdj + 3 + + + + 2 + + + + + 100 + 40 + True + False + <!--863,629-->Front Inside Radius + start + start + + + 50 + 20 + True + True + False + True + True + + + + + 3 + + + + + 100 + 40 + True + False + <!--763,680-->Front Outside Radius + start + start + + + 50 + 20 + True + True + False + True + radius.fi + + + + + 4 + + + + + 100 + 40 + True + False + <!--335,448-->Back Outside Radius + start + start + + + 50 + 20 + True + True + False + True + radius.fi + + + + + 5 + + + + + 100 + 40 + True + False + end + end + + + radius.go + 50 + 20 + True + True + True + True + + + True + False + gtk-media-play + + + + + + + 10 + + + + + True + False + end + start + + + 50 + 20 + True + True + end + start + ● + 5 + 0 + False + False + RadiusSFAdj + + + + 1 + 1 + + + + + 50 + 20 + True + True + ● + 5 + 0 + False + False + RadiusToolAdj + + + + 1 + 0 + + + + + Set Tool + radius.toolchange + 50 + 20 + True + True + True + True + + + 0 + 0 + + + + + True + False + center + Speed + 1 + + + 0 + 1 + + + + + Coolant + True + True + False + True + + + 1 + 2 + + + + + + + + 11 + + + + + Radius + 3 + False + + + + + True + False + Radius + + + 3 + False + + + + + True + False + + + True + False + gtk-missing-image + + + -1 + + + + + 50 + 20 + True + True + <!--202,334-->Chamfer Z position + start + start + ● + 7 + 0.000 + False + False + ChamferZAdj + 4 + + + + + + 50 + 20 + True + True + <!--1112,287-->Chamfer size + start + start + ● + 5 + 0.0000 + False + False + ChamChamAdj + 3 + + + + 1 + + + + + 50 + 20 + True + True + <!--1033,678-->Chamfer Diametric position + start + start + ● + 7 + 0.000 + False + False + ChamXAdj + 4 + + + + 2 + + + + + 100 + 40 + True + False + <!--335,448-->Back outside chamfer + start + start + + + 50 + 20 + True + True + False + <!--335,448-->Chamfer Z position + True + True + + + + + 3 + + + + + 100 + 40 + True + False + <!--763,680-->Front Outside Chamfer + start + start + + + 50 + 20 + True + True + False + True + chamfer.bo + + + + + 4 + + + + + 100 + 40 + True + False + <!--863,629-->Front Inside Chamfer + start + start + + + 50 + 16 + True + True + False + 0 + True + chamfer.bo + + + + + 5 + + + + + 100 + 40 + True + False + end + end + + + False + chamfer.go + 50 + 20 + True + True + True + True + + + True + False + gtk-media-play + + + + + + + 10 + + + + + True + False + end + start + + + True + False + center + Speed + 1 + + + 0 + 1 + + + + + Coolant + True + True + False + True + + + 1 + 2 + + + + + Set Tool + False + chamfer.toolchange + 50 + 20 + True + True + True + True + + + 0 + 0 + + + + + 50 + 20 + True + True + start + start + ● + 5 + 0 + False + False + ChamferSFAdj + + + + 1 + 1 + + + + + 50 + 20 + True + True + start + start + ● + 0 + False + False + ChamferToolAdj + + + + 1 + 0 + + + + + + + + 11 + + + + + Chamfer + 4 + False + + + + + True + False + Chamfer + + + 4 + False + + + + + True + False + + + True + False + gtk-missing-image + + + -1 + + + + + 50 + 20 + True + True + <!--268,341-->Finish Z position + start + start + ● + 7 + 0.000 + False + False + ThreadZAdj + 4 + + + + + + 50 + 20 + True + True + <!--1010,753-->Radius Z position + start + start + ● + 7 + 0.000 + False + False + ThreadXAdj + 4 + + + + 1 + + + + + 50 + 20 + True + False + <!--652,737-->External Thread + start + start + + + True + True + False + True + True + + + + + 2 + + + + + 50 + 20 + True + True + <!--192,616-->Radius Z position + start + start + ● + 7 + 0.0000 + False + False + ThreadPitchAdj + 4 + + + + 4 + + + + + 50 + 20 + True + False + <!--754,603-->Internal Thread + start + start + + + True + True + False + True + thread.external + + + + + 6 + + + + + 50 + 20 + True + False + end + end + + + False + thread.go + 50 + 20 + True + True + True + True + + + True + False + gtk-media-play + + + + + + + 7 + + + + + True + False + end + start + + + True + False + center + Speed + 1 + + + 0 + 1 + + + + + Coolant + True + True + False + True + + + 1 + 2 + + + + + 50 + 20 + True + True + start + start + ● + 5 + 20 + False + False + ThreadSFAdj + 20 + + + + 1 + 1 + + + + + Set Tool + False + thread.toolchange + 50 + 20 + True + True + True + True + + + 0 + 0 + + + + + 50 + 20 + True + True + start + start + ● + 0 + False + False + ThreadToolAdj + + + + 1 + 0 + + + + + + + + 9 + + + + + 5 + False + + + + + True + False + Thread + + + 5 + False + + + + + True + False + + + True + False + gtk-missing-image + + + -1 + + + + + 100 + 40 + True + False + end + end + + + False + groove.go + 50 + 20 + True + True + True + True + + + True + False + gtk-media-play + + + + + + + 4 + + + + + 50 + 20 + True + True + <!--1084,672-->Finish Diameter + start + start + ● + 7 + 0.000 + False + False + GrooveXAdj + 4 + + + + 5 + + + + + True + False + end + start + + + 50 + 20 + True + True + ● + 0 + False + False + GrooveToolAdj + + + + 1 + 0 + + + + + Set Tool + groove.toolchange + 50 + 20 + True + True + True + True + + + 0 + 0 + + + + + True + False + center + Speed + 1 + + + 0 + 1 + + + + + Coolant + True + True + False + True + + + 1 + 2 + + + + + 50 + 20 + True + True + end + start + ● + 5 + 20 + False + False + GrooveSFAdj + 20 + + + + 1 + 1 + + + + + + + + 8 + + + + + 50 + 20 + True + True + <!--648,864-->Feed per rev + start + start + ● + 5 + 0.0000 + False + False + GrooveFeedAdj + 3 + + + + 4 + + + + + 6 + + + + + True + False + Groove + + + 6 + False + + + + + True + False + + + True + False + gtk-missing-image + + + -1 + + + + + 100 + 40 + True + False + end + end + + + False + drill.go + 50 + 20 + True + True + True + True + + + True + False + gtk-media-play + + + + + + + 3 + + + + + True + False + end + start + + + 50 + 20 + True + True + end + start + ● + 5 + 0 + False + False + DrillSFAdj + + + + 1 + 1 + + + + + 50 + 20 + True + True + ● + 0 + False + False + DrillToolAdj + + + + 1 + 0 + + + + + Set Tool + drill.toolchange + 50 + 20 + True + True + True + True + + + 0 + 0 + + + + + True + False + center + Speed + 1 + + + 0 + 1 + + + + + Coolant + True + True + False + True + + + 1 + 2 + + + + + + + + 3 + + + + + 50 + 20 + True + True + <!--770,900-->Feed per Rev + start + start + ● + 5 + 0.0000 + False + False + DrillFeedAdj + 3 + + + + 2 + + + + + 50 + 20 + True + True + <!--260,250-->Finish Z + start + start + ● + 7 + 0.000 + False + False + DrillZAdj + 4 + + + + 3 + + + + + 50 + 20 + True + True + <!--1200,270-->Drill Diameter + start + start + ● + 7 + 0.000 + False + False + DrillDiaAdj + 4 + + + + 4 + + + + + 50 + 20 + True + True + <!--300,711-->Peck distance + start + start + ● + 5 + 0.000 + False + False + DrillPeckAdj + 0.25 + 3 + 2 + + + + 5 + + + + + 7 + + + + + True + False + Drill + + + 7 + False + + + + + + + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/linuxcnc.var b/linuxcnc/sim.gmoccapy.lathe_configs/linuxcnc.var new file mode 100755 index 0000000..1776377 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/linuxcnc.var @@ -0,0 +1,119 @@ +5161 0.000000 +5162 0.000000 +5163 0.000000 +5164 0.000000 +5165 0.000000 +5166 0.000000 +5167 0.000000 +5168 0.000000 +5169 0.000000 +5181 0.000000 +5182 0.000000 +5183 0.000000 +5184 0.000000 +5185 0.000000 +5186 0.000000 +5187 0.000000 +5188 0.000000 +5189 0.000000 +5210 0.000000 +5211 0.000000 +5212 0.000000 +5213 0.000000 +5214 0.000000 +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 +5244 0.000000 +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 +5267 0.000000 +5268 0.000000 +5269 0.000000 +5270 0.000000 +5281 0.000000 +5282 0.000000 +5283 0.000000 +5284 0.000000 +5285 0.000000 +5286 0.000000 +5287 0.000000 +5288 0.000000 +5289 0.000000 +5290 0.000000 +5301 0.000000 +5302 0.000000 +5303 0.000000 +5304 0.000000 +5305 0.000000 +5306 0.000000 +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 +5327 0.000000 +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 +5365 0.000000 +5366 0.000000 +5367 0.000000 +5368 0.000000 +5369 0.000000 +5370 0.000000 +5381 0.000000 +5382 0.000000 +5383 0.000000 +5384 0.000000 +5385 0.000000 +5386 0.000000 +5387 0.000000 +5388 0.000000 +5389 0.000000 +5390 0.000000 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/linuxcnc.var.bak b/linuxcnc/sim.gmoccapy.lathe_configs/linuxcnc.var.bak new file mode 100755 index 0000000..1776377 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/linuxcnc.var.bak @@ -0,0 +1,119 @@ +5161 0.000000 +5162 0.000000 +5163 0.000000 +5164 0.000000 +5165 0.000000 +5166 0.000000 +5167 0.000000 +5168 0.000000 +5169 0.000000 +5181 0.000000 +5182 0.000000 +5183 0.000000 +5184 0.000000 +5185 0.000000 +5186 0.000000 +5187 0.000000 +5188 0.000000 +5189 0.000000 +5210 0.000000 +5211 0.000000 +5212 0.000000 +5213 0.000000 +5214 0.000000 +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 +5244 0.000000 +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 +5267 0.000000 +5268 0.000000 +5269 0.000000 +5270 0.000000 +5281 0.000000 +5282 0.000000 +5283 0.000000 +5284 0.000000 +5285 0.000000 +5286 0.000000 +5287 0.000000 +5288 0.000000 +5289 0.000000 +5290 0.000000 +5301 0.000000 +5302 0.000000 +5303 0.000000 +5304 0.000000 +5305 0.000000 +5306 0.000000 +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 +5327 0.000000 +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 +5365 0.000000 +5366 0.000000 +5367 0.000000 +5368 0.000000 +5369 0.000000 +5370 0.000000 +5381 0.000000 +5382 0.000000 +5383 0.000000 +5384 0.000000 +5385 0.000000 +5386 0.000000 +5387 0.000000 +5388 0.000000 +5389 0.000000 +5390 0.000000 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M101 b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M101 new file mode 100755 index 0000000..db40680 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M101 @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M102 b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M102 new file mode 100755 index 0000000..a846012 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M102 @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M103 b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M103 new file mode 100755 index 0000000..7789473 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M103 @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M104 b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M104 new file mode 100755 index 0000000..ab7f331 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M104 @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M105 b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M105 new file mode 100755 index 0000000..d9c332f --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M105 @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M106 b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M106 new file mode 100755 index 0000000..c53798f --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/nc_files/M106 @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/position.txt b/linuxcnc/sim.gmoccapy.lathe_configs/position.txt new file mode 100755 index 0000000..bdc031f --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/position.txt @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/postgui_call_list.hal b/linuxcnc/sim.gmoccapy.lathe_configs/postgui_call_list.hal new file mode 100755 index 0000000..c048069 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/postgui_call_list.hal @@ -0,0 +1,3 @@ +# These files are loaded post GUI, in the order they appear + +source custom_postgui.hal diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/radius.ngc b/linuxcnc/sim.gmoccapy.lathe_configs/radius.ngc new file mode 100755 index 0000000..4ba6e52 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/radius.ngc @@ -0,0 +1,76 @@ +;radius + +O 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 endsub +m2 +% diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/savestate.sav b/linuxcnc/sim.gmoccapy.lathe_configs/savestate.sav new file mode 100755 index 0000000..c1d61dd --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/savestate.sav @@ -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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/shutdown.hal b/linuxcnc/sim.gmoccapy.lathe_configs/shutdown.hal new file mode 100755 index 0000000..8766c9e --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/shutdown.hal @@ -0,0 +1,2 @@ +# Include your shutdown HAL commands here +# This file will not be overwritten when you run PNCconf again diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/sim.var b/linuxcnc/sim.gmoccapy.lathe_configs/sim.var new file mode 100755 index 0000000..1776377 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/sim.var @@ -0,0 +1,119 @@ +5161 0.000000 +5162 0.000000 +5163 0.000000 +5164 0.000000 +5165 0.000000 +5166 0.000000 +5167 0.000000 +5168 0.000000 +5169 0.000000 +5181 0.000000 +5182 0.000000 +5183 0.000000 +5184 0.000000 +5185 0.000000 +5186 0.000000 +5187 0.000000 +5188 0.000000 +5189 0.000000 +5210 0.000000 +5211 0.000000 +5212 0.000000 +5213 0.000000 +5214 0.000000 +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 +5244 0.000000 +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 +5267 0.000000 +5268 0.000000 +5269 0.000000 +5270 0.000000 +5281 0.000000 +5282 0.000000 +5283 0.000000 +5284 0.000000 +5285 0.000000 +5286 0.000000 +5287 0.000000 +5288 0.000000 +5289 0.000000 +5290 0.000000 +5301 0.000000 +5302 0.000000 +5303 0.000000 +5304 0.000000 +5305 0.000000 +5306 0.000000 +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 +5327 0.000000 +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 +5365 0.000000 +5366 0.000000 +5367 0.000000 +5368 0.000000 +5369 0.000000 +5370 0.000000 +5381 0.000000 +5382 0.000000 +5383 0.000000 +5384 0.000000 +5385 0.000000 +5386 0.000000 +5387 0.000000 +5388 0.000000 +5389 0.000000 +5390 0.000000 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/sim.var.bak b/linuxcnc/sim.gmoccapy.lathe_configs/sim.var.bak new file mode 100755 index 0000000..1776377 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/sim.var.bak @@ -0,0 +1,119 @@ +5161 0.000000 +5162 0.000000 +5163 0.000000 +5164 0.000000 +5165 0.000000 +5166 0.000000 +5167 0.000000 +5168 0.000000 +5169 0.000000 +5181 0.000000 +5182 0.000000 +5183 0.000000 +5184 0.000000 +5185 0.000000 +5186 0.000000 +5187 0.000000 +5188 0.000000 +5189 0.000000 +5210 0.000000 +5211 0.000000 +5212 0.000000 +5213 0.000000 +5214 0.000000 +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 +5244 0.000000 +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 +5267 0.000000 +5268 0.000000 +5269 0.000000 +5270 0.000000 +5281 0.000000 +5282 0.000000 +5283 0.000000 +5284 0.000000 +5285 0.000000 +5286 0.000000 +5287 0.000000 +5288 0.000000 +5289 0.000000 +5290 0.000000 +5301 0.000000 +5302 0.000000 +5303 0.000000 +5304 0.000000 +5305 0.000000 +5306 0.000000 +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 +5327 0.000000 +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 +5365 0.000000 +5366 0.000000 +5367 0.000000 +5368 0.000000 +5369 0.000000 +5370 0.000000 +5381 0.000000 +5382 0.000000 +5383 0.000000 +5384 0.000000 +5385 0.000000 +5386 0.000000 +5387 0.000000 +5388 0.000000 +5389 0.000000 +5390 0.000000 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe.hal b/linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe.hal new file mode 100755 index 0000000..24410d8 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe.hal @@ -0,0 +1,21 @@ +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 + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe_CW.hal b/linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe_CW.hal new file mode 100755 index 0000000..24410d8 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/simulated_home_lathe_CW.hal @@ -0,0 +1,21 @@ +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 + + diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/spindle_sim.hal b/linuxcnc/sim.gmoccapy.lathe_configs/spindle_sim.hal new file mode 100755 index 0000000..7b97c3d --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/spindle_sim.hal @@ -0,0 +1,69 @@ +# 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 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/threading.ngc b/linuxcnc/sim.gmoccapy.lathe_configs/threading.ngc new file mode 100755 index 0000000..71c05ef --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/threading.ngc @@ -0,0 +1,59 @@ +;threading + +O 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] + # = [#1] + # = [#1 - 1.3 * #4] + ;g1X [# - 1] ;thread truncation + ;g0 Z #13 + ;g1 X # + ;g1 Z #5 + G0 X[# - 1] + g0 Z #13 + #3 = [#4 * 1.3] + (debug, INTERNAL Threading thread dia-#1 start-#13 finish-#5 Pitch-#4 Depth-#3) + g1X [# - 1] + g76 p#4 z#5 i1 j1 k#3 h3 r1.5 q29.5 e0 l0 + + O51 ELSE + # = [#1 - 0.108 * #4] + # = [#1 - 1.0825 * #4] + (debug, EXTERNAL Threading OD = # ID = #) + #3 = [#4 * 1.0825] + g1X [# + 1] ;final thread truncation + g0 z#13 + g1 X # + g1 Z #5 + G0 X[# +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 endsub + +M2 diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/tool.tbl b/linuxcnc/sim.gmoccapy.lathe_configs/tool.tbl new file mode 100755 index 0000000..32d8777 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/tool.tbl @@ -0,0 +1,19 @@ +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 ; diff --git a/linuxcnc/sim.gmoccapy.lathe_configs/turning.ngc b/linuxcnc/sim.gmoccapy.lathe_configs/turning.ngc new file mode 100755 index 0000000..8dc3ec0 --- /dev/null +++ b/linuxcnc/sim.gmoccapy.lathe_configs/turning.ngc @@ -0,0 +1,66 @@ +;Turning + +O 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 endsub +M2