按规划持续工作

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/M111

@@ -0,0 +1,5 @@
+#!/bin/bash
+halcmd setp axisui.notifications-clear-info 1
+sleep .1
+halcmd setp axisui.notifications-clear-info 0
+exit 0

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/dyn_demo.ngc

@@ -0,0 +1,33 @@
+#<xmax>  =   9
+#<ymax>  =   4
+#<zmax>  =   3
+#<rct>   = 100
+#<feed>  = 100
+
+#<x1>    = #<xmax>
+#<y1>    = 0
+#<z1>    = [#<zmax> * 0.5]
+
+#<x2>    = #<xmax>
+#<y2>    = #<ymax>
+#<z2>    = 0
+
+#<x3>    = 0
+#<y3>    = #<ymax>
+#<z3>    = #<zmax>
+
+m111 ;clear notifications
+g61
+g0 x0 y0 z0
+
+o<rpt> repeat [#<rct>]
+f #<feed>
+g0 x 0          y 0        z 0
+g1 x #<x1>      y #<y1>    z #<z1>
+g1 x #<x2>      y #<y2>    z #<z2>
+g1 x #<x3>      y #<y3>    z #<z3>
+g1 x 0          y 0        z 0
+o<rpt> endrepeat
+
+m111 ;clear notifications
+m2

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini

@@ -0,0 +1,83 @@
+[APPLICATIONS]
+# delay because some items are done in postgui
+DELAY = 5
+APP = halscope -i dynamic_offsets.halscope
+
+[HAL]
+HALUI   = halui
+HALFILE = LIB:basic_sim.tcl -no_sim_spindle
+POSTGUI_HALFILE = dynamic_offsets_panel.hal
+
+[EMC]
+MACHINE = Dynamic External Offsets
+VERSION = 1.1
+
+[DISPLAY]
+PYVCP = dynamic_offsets_panel.xml
+DISPLAY = axis
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_LINEAR_VELOCITY = 2
+OPEN_FILE = ./dyn_demo.ngc
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+USER_M_PATH = .
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+COORDINATES = XYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+
+[KINS]
+JOINTS = 3
+KINEMATICS = trivkins coordinates=XYZ
+
+[AXIS_X]
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -1
+MAX_LIMIT        =  10
+
+[AXIS_Y]
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -1
+MAX_LIMIT        =  10
+
+[AXIS_Z]
+# Note:give half to external_offsets:
+OFFSET_AV_RATIO  =   0.5
+
+# Note: modified in pyvcp panel:
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  50
+
+MIN_LIMIT        =  -5
+MAX_LIMIT        =   5
+
+[JOINT_0]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 20
+
+[JOINT_1]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 20
+
+[JOINT_2]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 50

wasm-port/vendor/linuxcnc/configs/sim/axis/external_offsets/eoffset.tbl

@@ -0,0 +1 @@
+T1 P1 D0.125 Z0.5

wasm-port/vendor/linuxcnc/configs/sim/axis/foam/axis_foam.ini

@@ -0,0 +1,126 @@
+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-HAL-SIM-AXIS
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.100
+HELP_FILE = doc/help.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+PROGRAM_PREFIX = ../../nc_files/
+OPEN_FILE = ./foam.ngc
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+#EDITOR = geany
+INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+GEOMETRY = XY;UV
+FOAM = 1
+
+[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 = python3
+
+[RS274NGC]
+PARAMETER_FILE = foam.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+
+[TRAJ]
+NO_FORCE_HOMING = 1
+COORDINATES = X Y U V
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+MAX_LINEAR_VELOCITY = 1.2
+MAX_ANGULAR_VELOCITY = 90.0
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+
+[KINS]
+KINEMATICS = trivkins coordinates=xyuv
+JOINTS = 4
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_SEARCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_SEARCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[AXIS_U]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_SEARCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[AXIS_V]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+
+[JOINT_3]
+TYPE = ANGULAR
+HOME = 0.0
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+HOME_SEARCH_VEL = 0.0
+HOME_SEQUENCE = 0
+

wasm-port/vendor/linuxcnc/configs/sim/axis/foam/foam.ngc

@@ -0,0 +1,24 @@
+(test this with axis_9axis sim machine )
+G17 G21 G90 G61 G54
+(AXIS,XY_Z_POS,5)
+(AXIS,UV_Z_POS,30)
+(AXIS,GRID,5)
+
+G0 x0 y0 u0 v0
+
+(square uv 45 deg turned offset 10mm to zero )
+G0 x5 y5
+G0 x10 y10  u22.5 v22.5
+G1 x10 y35 u10 v35 F200
+G1 x10 y60 u22.5 v47.5
+G1 x35 y60 u35 v60
+G2 r25 x60 y35 u60 v35
+G1 x60 y10 u47.5 v22.5
+G1 x35 y10 u35 v10
+G1 X10 Y10 u22.5 v22.5
+G1 X5 Y5 U5 V5
+G0 x0 u0
+
+G0 x0 y0 u0 v0
+M30
+%

wasm-port/vendor/linuxcnc/configs/sim/axis/geometry/M110

@@ -0,0 +1,7 @@
+#!/bin/sh
+
+halcmd setp axisui.notifications-clear-info 1
+sleep .200
+halcmd setp axisui.notifications-clear-info 0
+
+exit 0

wasm-port/vendor/linuxcnc/configs/sim/axis/geometry/xyzc.ini

@@ -0,0 +1,72 @@
+# minimal sim config to demonstrate '!' in [DISPLAY]GEOMETRY
+# showing rotations respecting g5x,g92 offsets
+[EMC]
+VERSION = 1.1
+MACHINE = xyzc (offset rotations)
+
+[DISPLAY]
+OPEN_FILE = ./xyzc.ngc
+GEOMETRY = !CXYZ
+DISPLAY = axis
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = xyzc.var
+USER_M_PATH = .
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = LIB:basic_sim.tcl
+
+[KINS]
+JOINTS = 4
+KINEMATICS = trivkins coordinates=XYZC kinstype=both
+
+[TRAJ]
+COORDINATES = X Y Z C
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+MAX_LINEAR_VELOCITY = 10
+MAX_LINEAR_ACCELERATION = 10000
+MAX_ANGULAR_VELOCITY = 3600
+MAX_ANGULAR_ACCELERATION = 36000
+
+[JOINT_0]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = ANGULAR
+HOME_SEQUENCE = 0
+MAX_VELOCITY=3600
+MAX_ACCELERATION=36000
+
+[AXIS_X]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_Y]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_Z]
+MAX_VELOCITY=10
+MAX_ACCELERATION=1000
+
+[AXIS_C]
+MAX_VELOCITY=3600
+MAX_ACCELERATION=36000

wasm-port/vendor/linuxcnc/configs/sim/axis/geometry/xyzc.ngc

@@ -0,0 +1,66 @@
+o110 sub
+     f100
+     g61
+     g0 x1.0 y0.0
+     g1 x1.5 y0.0
+     g1 x1.5 y0.5
+     g1 x1.0 y0.5
+     g1 x1.0 y0.0
+o110 endsub
+
+o100 sub
+     g0 c90
+     o110 call
+     g0 c180
+     o110 call
+     g0 c270
+     o110 call
+     g0x0y0z0c0
+o100 endsub
+
+;#########################################################
+m110 ; clear messages
+g0x0y0z0c0
+o110 call
+
+o200 if [#5210 ne 0]
+       (debug, ! Prog loaded with g92 offsets)
+       (debug, RELOAD program required)
+       g92.1
+       (debug, bye)
+       m2
+o200 endif
+
+o210 if [[#5221 ne 0] or [#5222 ne 0] or [#5223 ne 0] or [#5223 ne 0] or [#5225 ne 0] or [#5226 ne 0] or [#5227 ne 0] or [#5228 ne 0] or [#5229 ne 0] ]
+        (debug, ! Prog loaded with g5x offsets)
+        (debug, RELOAD program required)
+        g92.1
+        g10l2p0x0y0z0c0
+        (debug, bye)
+        m2
+o210 endif
+
+g0x0y0z0c0
+g10l2p0x0y0z0c0
+(debug, First: run with NO offsets, s to continue)
+m0
+o100 call
+
+o300 if [#<_task> eq 1]
+        g10l2p0x1
+        (debug, Next: run with g5x xoffset=#5221, s to continue)
+        m0
+        o100 call
+
+        g10l2p0x0y0z0c0
+        g92x2
+        (debug, Next: run with g92 xoffset=#5211, s to continue)
+        m0
+        o100 call
+o300 endif
+
+g10l2p0x0y0z0c0
+g92.1
+g0x0y0z0c0
+(debug,fini)
+m2

wasm-port/vendor/linuxcnc/configs/sim/axis/sim.tbl

@@ -0,0 +1,5 @@
+T1 P1 Z0.511 D0.125 ;1/8 end mill 
+T2 P2 Z0.1 D0.0625 ;1/16 end mill 
+T3 P3 Z1.273 D0.201 ;#7 tap drill 
+T99999 P99999 Z0.1 ;big tool number 
+T4 P4 Z0 D.005 ;Added 20131029