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结论：已纳入 LinuxCNC 五轴 switchkins M428/M429/M430 来源资产，补齐 remap source probe 与 native 验证闭环，未新增自写 CNC 语义。
This commit is contained in:
wangdequan
2026-06-08 15:33:05 +08:00
parent 19687c3268
commit 5df62ad60a
61 changed files with 12160 additions and 4 deletions
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202
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini vendored Normal file
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[EMC]
VERSION = 1.1
MACHINE = Sim-5Axis Bridge Mill (xyzbcw)
DEBUG = 0
[DISPLAY]
GEOMETRY = XYZCBW
OPEN_FILE = ./5axisgui.ngc
INCREMENTS = 10 mm, 1 mm, .1 mm
JOG_AXES = XYZC
GEOMETRY = XYZCBW
DISPLAY = axis
CYCLE_TIME = 0.200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
TOOL_EDITOR = tooledit z diam
#EDITOR = geany
PYVCP = 5axis.xml
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
HAL_PIN_VARS = 1
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
REMAP = M430 modalgroup=10 ngc=430remap
PARAMETER_FILE = 5axis.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = 5axisgui.hal
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
POSTGUI_HALFILE = 5axis_postgui.hal
[HALUI]
# M428:bridgemill (kinstype==0 startupDEFAULT)
# M429:identity kins (kinstype==1)
# M430:userk kins (kinstype==2)
MDI_COMMAND = M428
MDI_COMMAND = M429
MDI_COMMAND = M430
[TRAJ]
COORDINATES = XYZBCWY
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_ANGULAR_VELOCITY = 360.0
DEFAULT_LINEAR_VELOCITY = 200.0
MAX_LINEAR_VELOCITY = 346.0
MAX_LINEAR_ACCELERATION = 800.0
DEFAULT_LINEAR_ACCELERATION = 800.0
MAX_ANGULAR_VELOCITY = 360
[EMCIO]
TOOL_TABLE = 5axis.tbl
[KINS]
# Note: Supported coordinates are XYZBCW but the W coordinate
# motion is incorporated into the X,Y,Z axes.
# Use of the W coordinate requires a joint (5)
# in order to allow display of W values.
# Use immediate homing for this joint (JOINT_5)
# Note: 5axiskins is misnomer
# (xyzbcw uses 6 joints)
# (xyzbcwy uses 7 joints)
# xyzbcw
# type0:5axiskins, type1:identity, type2:userk
# x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5
# JOINTS = 6
# KINEMATICS = 5axiskins
# illustraed below is complex example with duplicate
# coord letters for y, 7 joints total):
# type0:5axiskins, type1:identity, type2:userk
# x:joint0
# y:joint1 AND joint6
# z:joint2
# b:joint3
# c:joint4
# w:joint5
JOINTS = 7
KINEMATICS = 5axiskins coordinates=xyzbcwy
[AXIS_X]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[AXIS_Y]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[AXIS_Z]
MIN_LIMIT = -500
MAX_LIMIT = 100
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
# B is one-to-one to JOINT_3
[AXIS_B]
MIN_LIMIT = -120
MAX_LIMIT = 120
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
# C is one-to-one to JOINT_4
[AXIS_C]
MIN_LIMIT = -36000
MAX_LIMIT = 36000
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
# W motion is incorporated in Z motion
# but a joint (JOINT_5) must be configured
# to support display of W values
[AXIS_W]
MIN_LIMIT = -100
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = -1
# joints 1 and 6 used for y
[JOINT_6]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 500
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = -1
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
MIN_LIMIT = -500
MAX_LIMIT = 100
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 60
MAX_ACCELERATION = 200
MIN_LIMIT = -36000
MAX_LIMIT = 36000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
# immediate homing for JOINT_5 (w coordinate)
[JOINT_5]
TYPE = LINEAR
MIN_LIMIT = -100
MAX_LIMIT = 500
MAX_VELOCITY = 200
MAX_ACCELERATION = 800
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0

4
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.tbl vendored Normal file
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T10 P10 Z10 D10
T11 P11 Z11 D10
T100 P100 Z100 D10
T150 P150 Z150 D10

128
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.xml vendored Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<label>
<text>"SWITCHKINS"</text>
<relief>RIDGE</relief>
<bd>3</bd>
</label>
<multilabel>
<legends>[" 0:BRIDGE ", "1:IDENTITY", " 2:USERK "]</legends>
<font>("DejaVu Sans Mono",16)</font>
<bg>"black"</bg>
<fg>"yellow"</fg>
</multilabel>
<button>
<halpin>"type0-button"</halpin>
<text>"Brigemill"</text>
<bd>3</bd>
</button>
<button>
<halpin>"type1-button"</halpin>
<text>"Identity "</text>
<bd>3</bd>
</button>
<button>
<halpin>"type2-button"</halpin>
<text>"userk "</text>
<bd>3</bd>
</button>
</vbox>
<vbox>
<labelframe text="Joints values">
<font>("Helvetica",14)</font>
<hbox>
<label>
<text>"0: "</text>
<font>("Helvetica",14)</font>
</label>
<number>
<halpin>"joint0"</halpin>
<font>("Helvetica",14)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"1: "</text>
<font>("Helvetica",14)</font>
</label>
<number>
<halpin>"joint1"</halpin>
<font>("Helvetica",14)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"2: "</text>
<font>("Helvetica",14)</font>
</label>
<number>
<halpin>"joint2"</halpin>
<font>("Helvetica",14)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"3: "</text>
<font>("Helvetica",14)</font>
</label>
<number>
<halpin>"joint3"</halpin>
<font>("Helvetica",14)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"4: "</text>
<font>("Helvetica",14)</font>
</label>
<number>
<halpin>"joint4"</halpin>
<font>("Helvetica",14)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"5: "</text>
<font>("Helvetica",14)</font>
</label>
<number>
<halpin>"joint5"</halpin>
<font>("Helvetica",14)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"6: "</text>
<font>("Helvetica",14)</font>
</label>
<number>
<halpin>"joint6"</halpin>
<font>("Helvetica",14)</font>
<format>"4.4f"</format>
</number>
</hbox>
</labelframe>
</vbox>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<button>
<halpin>"vismach-clear"</halpin>
<text>"vismach-clear"</text>
<bd>3</bd>
</button>
</vbox>
</pyvcp>

17
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal vendored Normal file
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net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0
net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1
net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2
net :type0-button <= pyvcp.type0-button => halui.mdi-command-00
net :type1-button <= pyvcp.type1-button => halui.mdi-command-01
net :type2-button <= pyvcp.type2-button => halui.mdi-command-02
net :jx => pyvcp.joint0
net :jy => pyvcp.joint1
net :jz => pyvcp.joint2
net :jb => pyvcp.joint3
net :jc => pyvcp.joint4
net :jw => pyvcp.joint5
net :jy2 => pyvcp.joint6
net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear

32
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal vendored Normal file
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loadusr -W 5axisgui
# to set different pivot_len, use:
# 'loadusr -W 5axisgui pivot_len=value'
net :jx joint.0.pos-fb 5axisgui.jx
net :jy joint.1.pos-fb 5axisgui.jy
net :jz joint.2.pos-fb 5axisgui.jz
net :jb joint.3.pos-fb 5axisgui.jb
net :jc joint.4.pos-fb 5axisgui.jc
net :jw joint.5.pos-fb
net :jy2 joint.6.pos-fb
# Note: no joint or motor connections are used
# for the w coordinate
# compute pivot-length needed for 5axiskins
# according to gui pivot_len and tool z offset
loadrt sum2 names=pivotsum
addf pivotsum servo-thread
net :gui-pivot-len <= 5axisgui.pivot_len
net :gui-pivot-len => pivotsum.in0
net :tool-len <= motion.tooloffset.z
net :tool-len => pivotsum.in1
net :tool-len => 5axisgui.tool_length
net :pivot-len <= pivotsum.out
net :pivot-len => 5axiskins.pivot-length
net :tool-diam <= halui.tool.diameter
net :tool-diam => 5axisgui.tool_diam

53
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc vendored Normal file
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#<r> = 60 ; sphere radius
#<rdelta> = 5 ; safe distance
#<drilldepth> = -5
#<zstart> = 0
#<bctmax> = 8
#<cctmax> = 16
#<toolno> = 100
#<frate> = 1000
#<bct> = 0
#<cct> = 0
#<cdelta> = [360/#<cctmax>]
#<bdelta> = [90/#<bctmax>]
g49
t#<toolno>m6g43
g53 g0 x0y0z#<zstart>b0c0 w0
g10l20 p0 x0 y0 z[#<r>+#<rdelta>] b0 c0 w0
g0 z0
f#<frate>
o100 while [#<bct> lt #<bctmax>]
#<b> = [#<bct>*#<bdelta>]
#<rnow> = [[#<r>+#<rdelta>]*[cos[#<b>]]]
#<x> = [#<rnow>]
#<y> = 0
#<z> = [-#<rnow>]
g0 x#<x> y#<y>
m66e0l0 ; force sync
g0 z#<z>
g0b[-90+#<b>]
#<cct> = 0
o200 while [#<cct> lt #<cctmax>]
o210 if [[#<bct> mod 2] eq 0]
#<c> = [#<cct> * #<cdelta>]
o210 else
#<c> = [360 - [1+ #<cct>] * #<cdelta>]
o210 endif
#<x> = [#<rnow>*[cos[#<c>]]]
#<y> = [#<rnow>*[sin[#<c>]]]
g0 x#<x> y#<y> z#<z> c#<c>
f#<frate>
g1 w[ #<drilldepth> - #<rdelta>]
g0 w0
m66e0l0 ;force sync
#<cct> = [#<cct>+1]
o200 endwhile
#<bct> = [#<bct>+1]
o100 endwhile
g0x0y0z0b0c0w0
g53 g0 x0y0z0
m2

38
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/README vendored Normal file
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This is a simulation of an XYZBCWY 5 axis bridge mill.
Example demo:
1) $ linuxcnc 5axis.ini
2) F1 ---------- Estop off
F2 ---------- Machine on
CTRL-HOME --- home all
F5 ---------- MDI tab
3) orient vismach gui as required
4) g0w10 ; retract w
5) g43h100 ; tool offset (100)
6) g0b45 ; tilt 45 deg wrt z
7) g0c30 ; rotate 30 deg in xy
8) g0w-10 ; simulate drill
9) g0w10 ; retract drill
10) etc
Note: Motion for the W coordinate is incorporated
into the motions of the joints used for X,Y,Z
motion but a corresponding joint.5 is needed to
correctly display W values.
The joint.5.motor-pos-cmd should be looped to the
joint.5.motor-pos-fb and joint.5 should use immediate
homimg (HOME_SEARCH_VEL = 0).
The 5axis.ini illustrates how to use multiple (2)
joints for the axis y coordinate.
Configuration for XYZBCWY (7 joints total)
J0: X
J1: Y
J2: Z
J3: B
J4: C
J5: W
J6: Y

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wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc vendored Normal file
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;M428 by remap: select kinstype=0 genhexkins
o<428remap>sub
#<kinstype> = 0
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
o1 if [exists [#<_hal[motion.switchkins-type]>]]
o1 else
(debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
(debug,STOP)
M2
o1 endif
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
M66 E0 L0 ; force synch
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
(debug,M428: Wrong motion.switchkins-type)
(debug,or missing hal net to analog-out-0x)
(debug,STOP)
M2
o2 else
o2 endif
o<428remap>endsub

24
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc vendored Normal file
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;M429 by remap: select kinstype==1 Identity kinematics
o<429remap>sub
#<kinstype> = 1
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
o1 if [exists [#<_hal[motion.switchkins-type]>]]
o1 else
(debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
(debug,STOP)
M2
o1 endif
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
M66 E0 L0 ; force synch
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
(debug,M429:Wrong motion.switchkins-type)
(debug,or missing hal net to analog-out-0x)
(debug,STOP)
M2
o2 else
o2 endif
o<429remap>endsub

24
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc vendored Normal file
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;M430 by remap: select kinstype==2 userk kins
o<430remap>sub
#<kinstype> = 2
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
o1 if [exists [#<_hal[motion.switchkins-type]>]]
o1 else
(debug,M30:Missing [RS274NGC]HAL_PIN_VARS=1)
(debug,STOP)
M2
o1 endif
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
M66 E0 L0 ; force synch
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
(debug,M430:Wrong motion.switchkins-type)
(debug,or missing hal net to analog-out-0x)
(debug,STOP)
M2
o2 else
o2 endif
o<430remap>endsub

42
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/README vendored Normal file
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Switchable Table Dual Rotary (tdr) Sim config
xyzab-tdr (switchable kinematics)
Demonstrations:
For a demonstration of XYZAB_TCP kinematics the user can run the preloaded demo gcode with the default offsets.
In the right hand panel of the axis gui sliders are provided to
- change the geometrical (x,z)-offsets as measured from the rotation-point of the A/B rotary-assembly to the
face center of the rotary A table. The offsets are visibly adjusted in the vismach simulation and represented by a red indicator
for the x-offset and a blue indicator for the z-offset.
- see the effects of misconfiguring the (x,y,z)-rot-point values used in the kinematics. These values represent the
physical position of the rotary-assembly in the machine as measured from the machine home position to the rotation-point
of the assembly. The rotation-point is identical to the intersection of the two rotational axes A and B when the (x,z)-offsets
are zero. When (x,z)-offsets are applied the rotation-point stays on the rotational B axis. The 'rot-point' as set by
these values as well as the true rotation-point of the rotary-assembly are indicated in the vismach simulation by a yellow cross
and a red sphere respectively.
NOTE:
For proper tool-path preview RELOAD THE CGODE after startup and after changing offset values.
***********************************************
Note: IMPORTANT ini file requirements:
[HAL]
HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
[HALUI]
MDI_COMMAND = M429
MDI_COMMAND = M428
***********************************************

49
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc vendored Normal file
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; -- RELOAD GCODE FOR PROPER TOOL-PATH PREVIEW --
g21 g90 g49 g54
; switch to identity mode
m429
; clear g54
g10 l2 p0 x0 y0 z0 a0 b0
; go to machine origin
g53 g0 x0 y0 z0 a0 b0
; set g54 for face center of rotary
g10 l20 p0 x-[#<_hal[xyzab_tdr_kins.x-rot-point]>+#<_hal[xyzab_tdr_kins.x-offset]>] y-#<_hal[xyzab_tdr_kins.x-rot-point]> z-[#<_hal[xyzab_tdr_kins.z-rot-point]>+#<_hal[xyzab_tdr_kins.z-offset]>] a0 b0
; load a tool
M61 Q2 G43 H2
; switch to tcp mode
m428
g0 b30
; go to face center of rotary a
g0 x0 y0 z0
; show basic tcp functionality
g0 x30 a180
g0 x0 a0
g0 b100
g0 y-50
g0 a90
g0 b120
g0 y0
g0 a0 b30
g0 x1
; start with square
f1000
g0 y-30 z-30
g1 z30
g1 a45
g1 y30
g1 a90 b45
g1 z-30
g1 a180 b100
g1 y30
g1 a90 b120
g1 y-30
g1 a0 b30
g0 x5
g1 y-30 z-30 a90
g1 z30 a45 b60
g1 y30 a90 b90
g1 z-30 a135 b120
g1 y-30 a0 b30
; go to machine origin
g53 g0 x0 y0 z0 a0 b0
m2

24
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc vendored Normal file
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;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
o<428remap>sub
#<kinstype> = 1 ; xyzac,xyzbc
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
o1 if [exists [#<_hal[motion.switchkins-type]>]]
o1 else
(debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
(debug,STOP)
M2
o1 endif
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
M66 E0 L0 ; force synch
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
(debug,M428: Wrong motion.switchkins-type)
(debug,or missing hal net to analog-out-0x)
(debug,STOP)
M2
o2 else
o2 endif
o<428remap>endsub

24
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc vendored Normal file
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;M429 by remap: kinstype==0 Identity kinematics
o<429remap>sub
#<kinstype> = 0
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
o1 if [exists [#<_hal[motion.switchkins-type]>]]
o1 else
(debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
(debug,STOP)
M2
o1 endif
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
M66 E0 L0 ; force synch
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
(debug,M429:Wrong motion.switchkins-type)
(debug,or missing hal net to analog-out-0x)
(debug,STOP)
M2
o2 else
o2 endif
o<429remap>endsub

23
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal vendored Normal file
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# switchkins pyvcp connections for:
# xyzab-tdr-kins.ini
net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0
net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1
net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear
net :type0-button <= pyvcp.type0-button => halui.mdi-command-00
net :type1-button <= pyvcp.type1-button => halui.mdi-command-01
net :axis-x => pyvcp.joint0
net :axis-y => pyvcp.joint1
net :axis-z => pyvcp.joint2
net :rotary-a => pyvcp.joint3
net :rotary-b => pyvcp.joint4
net :x-offset => pyvcp.x-offset-f
net :z-offset => pyvcp.z-offset-f
net :x-rot-point => pyvcp.x-rot-point-f
net :y-rot-point => pyvcp.y-rot-point-f
net :z-rot-point => pyvcp.z-rot-point-f

183
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini vendored Normal file
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@@ -0,0 +1,183 @@
[EMC]
VERSION = 1.1
MACHINE = sim-xyzab-tdr-kins (switchkins)
[DISPLAY]
GEOMETRY = XYZA-B
OPEN_FILE = ./demos/xyzab-tdr-demo.ngc
PYVCP = ./xyzab-tdr.xml
DISPLAY = axis
MAX_ANGULAR_VELOCITY = 360
MAX_LINEAR_VELOCITY = 1000
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2
PROGRAM_PREFIX = ../../nc_files
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1
TOOL_EDITOR = tooledit z diam
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
PARAMETER_FILE = xyzab-tdr.var
[KINS]
#NOTE:
# switchkins-type == 0 is identity kins
# switchkins-type == 1 is xyzab-tdr-kins
KINEMATICS = xyzab_tdr_kins
JOINTS = 5
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = xyzab-tdr-postgui.hal
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# Values '(x,z)-offsets' for geometric offset of the rotary-assembly and the
# values '(x,y,z)-rot-point' that describe the position of the
# rotation-point of the rotary-assembly can be changed using the sliders
# in the axis-gui.
# Default values (initval) and ranges (min,max) are set
# in the corresponding 'scale' sections in the file 'xyzab-tdr.xml'
# vismach xyzab-tdr-gui items
HALCMD = loadusr -W xyzab-tdr-gui
HALCMD = net :axis-x joint.0.pos-fb xyzab-tdr-gui.axis-x
HALCMD = net :axis-y joint.1.pos-fb xyzab-tdr-gui.axis-y
HALCMD = net :axis-z joint.2.pos-fb xyzab-tdr-gui.axis-z
HALCMD = net :rotary-a joint.3.pos-fb xyzab-tdr-gui.rotary-a
HALCMD = net :rotary-b joint.4.pos-fb xyzab-tdr-gui.rotary-b
HALCMD = net :tool-offset motion.tooloffset.z xyzab-tdr-gui.tool_length
HALCMD = net :tool-diam halui.tool.diameter xyzab-tdr-gui.tool_diameter
HALCMD = net :x-offset xyzab-tdr-gui.x_offset
HALCMD = net :z-offset xyzab-tdr-gui.z_offset
HALCMD = net :x-rot-point xyzab-tdr-gui.x-rot-point
HALCMD = net :y-rot-point xyzab-tdr-gui.y-rot-point
HALCMD = net :z-rot-point xyzab-tdr-gui.z-rot-point
# xyzab_tdr_kins items
HALCMD = net :tool-offset xyzab_tdr_kins.tool-offset-z
HALCMD = net :x-offset xyzab_tdr_kins.x-offset
HALCMD = net :z-offset xyzab_tdr_kins.z-offset
HALCMD = net :x-rot-point xyzab_tdr_kins.x-rot-point
HALCMD = net :y-rot-point xyzab_tdr_kins.y-rot-point
HALCMD = net :z-rot-point xyzab_tdr_kins.z-rot-point
# This is only used to preset the vismach model to the default values as set
# in the xml scale widgets
# These will be overwritten by the values in the xml
HALCMD = sets :x-offset -20
HALCMD = sets :z-offset -10
[HALUI]
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzab-tdr kins (motion.switchkins-type==1)
MDI_COMMAND = M429
MDI_COMMAND = M428
[TRAJ]
COORDINATES = XYZAB
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 35
MAX_LINEAR_ACCELERATION = 400
DEFAULT_LINEAR_ACCELERATION = 300
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT = 1
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[EMCIO]
TOOL_TABLE = xyzab-tdr.tbl
[AXIS_X]
MIN_LIMIT = -200
MAX_LIMIT = 200
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Y]
MIN_LIMIT = -200
MAX_LIMIT = 200
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Z]
MIN_LIMIT = -300
MAX_LIMIT = 300
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_A]
MIN_LIMIT = -3600
MAX_LIMIT = 3600
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[AXIS_B]
MIN_LIMIT = -180
MAX_LIMIT = 180
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_0]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -200
MAX_LIMIT = 200
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -200
MAX_LIMIT = 200
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -300
MAX_LIMIT = 300
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -3600
MAX_LIMIT = 3600
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_4]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -180
MAX_LIMIT = 180
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0

4
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.tbl vendored Normal file
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@@ -0,0 +1,4 @@
T1 P1 D1
T2 P2 Z30 D3
T3 P3 Z40 D4
T4 P4 Z50 D5

119
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var vendored Normal file
View File

@@ -0,0 +1,119 @@
5161 0.000000
5162 0.000000
5163 0.000000
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5217 0.000000
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5220 1.000000
5221 -70.000000
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5223 -110.000000
5224 0.000000
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5230 0.000000
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5364 0.000000
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5384 0.000000
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5389 0.000000
5390 0.000000

119
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var.bak vendored Normal file
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@@ -0,0 +1,119 @@
5161 0.000000
5162 0.000000
5163 0.000000
5164 0.000000
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5166 0.000000
5167 0.000000
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5181 0.000000
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5220 1.000000
5221 -70.000000
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5224 0.000000
5225 0.000000
5226 0.000000
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5229 0.000000
5230 0.000000
5241 0.000000
5242 0.000000
5243 0.000000
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5245 0.000000
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5364 0.000000
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5389 0.000000
5390 0.000000

325
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.xml vendored Normal file
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@@ -0,0 +1,325 @@
<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<multilabel>
<legends>["0:IDENTITY", "1: XYZAB ", "2: USERK "]</legends>
<font>("Helvetica",16)</font>
<bg>"black"</bg>
<fg>"yellow"</fg>
</multilabel>
<button>
<halpin>"type0-button"</halpin>
<text>"IDENTITY"</text>
<bd>3</bd>
</button>
<button>
<halpin>"type1-button"</halpin>
<text>"TCP:XYZAB"</text>
<bd>3</bd>
</button>
</vbox>
<!-- create a space to the next element -->
<vbox>
<hbox>
<label>
<text>" "</text>
<font>("Helvetica",4)</font>
</label>
</hbox>
</vbox>
<vbox>
<labelframe text="Joint position">
<font>("Helvetica",14)</font>
<hbox>
<vbox>
<hbox>
<label>
<text>"0: "</text>
<font>("Helvetica",10)</font>
</label>
<number>
<halpin>"joint0"</halpin>
<font>("Helvetica",10)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"1: "</text>
<font>("Helvetica",10)</font>
</label>
<number>
<halpin>"joint1"</halpin>
<font>("Helvetica",10)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"2: "</text>
<font>("Helvetica",10)</font>
</label>
<number>
<halpin>"joint2"</halpin>
<font>("Helvetica",10)</font>
<format>"4.4f"</format>
</number>
</hbox>
</vbox>
<vbox>
<label>
<text>" "</text>
<font>("Helvetica",10)</font>
</label>
</vbox>
<vbox>
<hbox>
<label>
<text>"3: "</text>
<font>("Helvetica",10)</font>
</label>
<number>
<halpin>"joint3"</halpin>
<font>("Helvetica",10)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"4: "</text>
<font>("Helvetica",10)</font>
</label>
<number>
<halpin>"joint4"</halpin>
<font>("Helvetica",10)</font>
<format>"4.4f"</format>
</number>
</hbox>
<hbox>
<label>
<text>"5: "</text>
<font>("Helvetica",10)</font>
</label>
<number>
<halpin>"joint5"</halpin>
<font>("Helvetica",10)</font>
<format>"4.4f"</format>
</number>
</hbox>
</vbox>
</hbox>
</labelframe>
</vbox>
<!-- create a space to the next element -->
<vbox>
<hbox>
<label>
<text>" "</text>
<font>("Helvetica",4)</font>
</label>
</hbox>
</vbox>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<button>
<halpin>"vismach-clear"</halpin>
<text>"vismach-clear"</text>
<bd>3</bd>
</button>
</vbox>
<!-- create a space to the next element -->
<vbox>
<hbox>
<label>
<text>" "</text>
<font>("Helvetica",4)</font>
</label>
</hbox>
</vbox>
<vbox>
<labelframe text="Rotary Assembly Offset">
<font>("Helvetica",14)</font>
<hbox>
<label>
<text>"x-offset: "</text>
<font>("Helvetica",10)</font>
</label>
<scale>
<font>("Helvetica",10)</font>
<width>"15"</width>
<halpin>"x-offset"</halpin>
<resolution>1</resolution>
<orient>HORIZONTAL</orient>
<initval>-20</initval>
<min_>-50</min_>
<max_>50</max_>
</scale>
</hbox>
<hbox>
<label>
<text>"z-offset: "</text>
<font>("Helvetica",10)</font>
</label>
<scale>
<font>("Helvetica",10)</font>
<width>"15"</width>
<halpin>"z-offset"</halpin>
<resolution>1</resolution>
<orient>HORIZONTAL</orient>
<initval>-10</initval>
<min_>-50</min_>
<max_>50</max_>
</scale>
</hbox>
<hbox>
<label>
<font>("Helvetica",8)</font>
<text>" "</text>
</label>
</hbox>
<hbox>
<label>
<text>"Use hover + mouse wheel to change values"</text>
<font>("Helvetica",6)</font>
</label>
</hbox>
</labelframe>
</vbox>
<!-- create a space to the next element -->
<vbox>
<hbox>
<label>
<text>" "</text>
<font>("Helvetica",4)</font>
</label>
</hbox>
</vbox>
<vbox>
<labelframe text="Rotation Point Offset">
<font>("Helvetica",14)</font>
<hbox>
<label>
<text>" This should demonstrate that TCP kinematics\n require the 'rot-point' settings (yellow)\n to match the physical location\n of the rotation-point (red)."</text>
<font>("Helvetica",8)</font>
</label>
</hbox>
<hbox>
<label>
<font>("Helvetica",8)</font>
<text>" "</text>
</label>
</hbox>
<hbox>
<label>
<font>("Helvetica",8)</font>
<text>"Physical location of rotation-point in the model\n in absolute machine coordinates:"</text>
</label>
</hbox>
<hbox>
<label>
<font>("Helvetica",8)</font>
<text>" x: -50\n y: -50\n z: -100"</text>
</label>
</hbox>
<hbox>
<label>
<font>("Helvetica",8)</font>
<text>" "</text>
</label>
</hbox>
<hbox>
<label>
<font>("Helvetica",8)</font>
<text>"these are also the correct 'rot-point' settings\n for this model"</text>
</label>
</hbox>
<hbox>
<label>
<text>"x-rot-point: "</text>
<font>("Helvetica",10)</font>
</label>
<scale>
<font>("Helvetica",10)</font>
<width>"15"</width>
<halpin>"x-rot-point"</halpin>
<resolution>1</resolution>
<orient>HORIZONTAL</orient>
<initval>-50</initval>
<min_>-55</min_>
<max_>-45</max_>
</scale>
</hbox>
<hbox>
<label>
<text>"y-rot-point: "</text>
<font>("Helvetica",10)</font>
</label>
<scale>
<font>("Helvetica",10)</font>
<width>"15"</width>
<halpin>"y-rot-point"</halpin>
<resolution>1</resolution>
<orient>HORIZONTAL</orient>
<initval>-50</initval>
<min_>-55</min_>
<max_>-45</max_>
</scale>
</hbox>
<hbox>
<label>
<text>"z-rot-point: "</text>
<font>("Helvetica",10)</font>
</label>
<scale>
<font>("Helvetica",10)</font>
<width>"15"</width>
<halpin>"z-rot-point"</halpin>
<resolution>1</resolution>
<orient>HORIZONTAL</orient>
<initval>-100</initval>
<min_>-105</min_>
<max_>-95</max_>
</scale>
</hbox>
<hbox>
<label>
<font>("Helvetica",8)</font>
<text>" "</text>
</label>
</hbox>
<hbox>
<label>
<text>"Use hover + mouse wheel to change values"</text>
<font>("Helvetica",6)</font>
</label>
</hbox>
</labelframe>
</vbox>
<!-- create a space to the next element -->
<vbox>
<hbox>
<label>
<text>" "</text>
<font>("Helvetica",4)</font>
</label>
</hbox>
</vbox>
<vbox>
<hbox>
<label>
<text>" FOR PROPER TOOL-PATH PREVIEW \n RELOAD AND RESTART THE\n GCODE AFTER STARTUP AND\n AFTER CHANGING OFFSETS!"</text>
<font>("Helvetica",9)</font>
</label>
</hbox>
</vbox>
</pyvcp>

207
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr_cmds.hal vendored Normal file
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@@ -0,0 +1,207 @@
# Sat Jun 06 15:59:10 CST 2026
#
# This file: ./xyzab-tdr_cmds.hal
# Created by: /home/cnc/桌面/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl
# With options:
# From inifile: /home/cnc/桌面/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini
# Halfiles: LIB:basic_sim.tcl
#
# This file contains the hal commands produced by basic_sim.tcl
# (and any hal commands executed prior to its execution).
# ------------------------------------------------------------------
# To use ./xyzab-tdr_cmds.hal in the original inifile (or a copy of it),
# edit to change:
# [HAL]
# HALFILE = LIB:basic_sim.tcl parameters
# to:
# [HAL]
# HALFILE = ./xyzab-tdr_cmds.hal
#
# Notes:
# 1) Inifile Variables substitutions specified in the inifile
# and interpreted by halcmd are automatically substituted
# in the created halfile (./xyzab-tdr_cmds.hal).
# 2) Input pins connected to a signal with no writer are
# not included in the setp listings herein so must be added
# manually
#
# user space components
loadusr -W hal_manualtoolchange
# components
#preloaded module: loadrt tpmod
#preloaded module: loadrt homemod
loadrt xyzab_tdr_kins
loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5
#loadrt __servo-thread (not loaded by loadrt, no args saved)
loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid
loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux
loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel
loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch
loadrt sim_spindle names=sim_spindle
loadrt limit2 names=limit_speed
loadrt lowpass names=spindle_mass
loadrt near names=near_speed
loadrt scale names=rpm_rps
# pin aliases
# param aliases
# signals
# nets
net J0:acc J0_accel.out
net J0:enable joint.0.amp-enable-out => J0_pid.enable
net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
net J0:on-pos J0_pid.output => J0_mux.in1
net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
net J0:vel J0_vel.out => J0_accel.in
net J1:acc J1_accel.out
net J1:enable joint.1.amp-enable-out => J1_pid.enable
net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
net J1:on-pos J1_pid.output => J1_mux.in1
net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
net J1:vel J1_vel.out => J1_accel.in
net J2:acc J2_accel.out
net J2:enable joint.2.amp-enable-out => J2_pid.enable
net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
net J2:on-pos J2_pid.output => J2_mux.in1
net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
net J2:vel J2_vel.out => J2_accel.in
net J3:acc J3_accel.out
net J3:enable joint.3.amp-enable-out => J3_pid.enable
net J3:homesw J3_switch.home-sw => joint.3.home-sw-in
net J3:on-pos J3_pid.output => J3_mux.in1
net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command
net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb
net J3:vel J3_vel.out => J3_accel.in
net J4:acc J4_accel.out
net J4:enable joint.4.amp-enable-out => J4_pid.enable
net J4:homesw J4_switch.home-sw => joint.4.home-sw-in
net J4:on-pos J4_pid.output => J4_mux.in1
net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command
net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb
net J4:vel J4_vel.out => J4_accel.in
net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel
net spindle-at-speed near_speed.out => spindle.0.at-speed
net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
net spindle-orient spindle.0.orient => spindle.0.is-oriented
net spindle-pos sim_spindle.position-fb => spindle.0.revs
net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed
net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
# parameter values
setp J0_accel.tmax 0
setp J0_mux.tmax 0
setp J0_pid.do-pid-calcs.tmax 0
setp J0_switch.tmax 0
setp J0_vel.tmax 0
setp J1_accel.tmax 0
setp J1_mux.tmax 0
setp J1_pid.do-pid-calcs.tmax 0
setp J1_switch.tmax 0
setp J1_vel.tmax 0
setp J2_accel.tmax 0
setp J2_mux.tmax 0
setp J2_pid.do-pid-calcs.tmax 0
setp J2_switch.tmax 0
setp J2_vel.tmax 0
setp J3_accel.tmax 0
setp J3_mux.tmax 0
setp J3_pid.do-pid-calcs.tmax 0
setp J3_switch.tmax 0
setp J3_vel.tmax 0
setp J4_accel.tmax 0
setp J4_mux.tmax 0
setp J4_pid.do-pid-calcs.tmax 0
setp J4_switch.tmax 0
setp J4_vel.tmax 0
setp limit_speed.tmax 0
setp motion-command-handler.tmax 0
setp motion-controller.tmax 0
setp near_speed.difference 10
setp near_speed.scale 1.1
setp near_speed.tmax 0
setp rpm_rps.tmax 0
setp servo-thread.tmax 0
setp sim_spindle.scale 0.01666667
setp sim_spindle.tmax 0
setp spindle_mass.gain 0.07
setp spindle_mass.tmax 0
# realtime thread/function links
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf J0_pid.do-pid-calcs servo-thread
addf J1_pid.do-pid-calcs servo-thread
addf J2_pid.do-pid-calcs servo-thread
addf J3_pid.do-pid-calcs servo-thread
addf J4_pid.do-pid-calcs servo-thread
addf J0_mux servo-thread
addf J1_mux servo-thread
addf J2_mux servo-thread
addf J3_mux servo-thread
addf J4_mux servo-thread
addf J0_vel servo-thread
addf J0_accel servo-thread
addf J1_vel servo-thread
addf J1_accel servo-thread
addf J2_vel servo-thread
addf J2_accel servo-thread
addf J3_vel servo-thread
addf J3_accel servo-thread
addf J4_vel servo-thread
addf J4_accel servo-thread
addf J0_switch servo-thread
addf J1_switch servo-thread
addf J2_switch servo-thread
addf J3_switch servo-thread
addf J4_switch servo-thread
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
# setp commands for unconnected input pins
setp J0_pid.FF0 1.0
setp J0_pid.Pgain 0
setp J0_pid.Dgain 0
setp J0_pid.Igain 0
setp J0_pid.FF1 0
setp J0_pid.FF2 0
setp J1_pid.FF0 1.0
setp J1_pid.Pgain 0
setp J1_pid.Dgain 0
setp J1_pid.Igain 0
setp J1_pid.FF1 0
setp J1_pid.FF2 0
setp J2_pid.FF0 1.0
setp J2_pid.Pgain 0
setp J2_pid.Dgain 0
setp J2_pid.Igain 0
setp J2_pid.FF1 0
setp J2_pid.FF2 0
setp J3_pid.FF0 1.0
setp J3_pid.Pgain 0
setp J3_pid.Dgain 0
setp J3_pid.Igain 0
setp J3_pid.FF1 0
setp J3_pid.FF2 0
setp J4_pid.FF0 1.0
setp J4_pid.Pgain 0
setp J4_pid.Dgain 0
setp J4_pid.Igain 0
setp J4_pid.FF1 0
setp J4_pid.FF2 0
setp sim_spindle.scale 0.01666667
setp limit_speed.maxv 5000.0
setp spindle_mass.gain .07
setp near_speed.scale 1.1
setp near_speed.difference 10

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Switchable Table Rotary/Tilting (trt) Sim configs
xyzac-trt-switchkins
xyzbc-trt-switchkins
Demonstrations:
demos/xyzac_switchkins.ngc
demos/xyzac_switchkins_test_1.ngc
demos/xyzac_switchkins_test_2.ngc
demos/xyzac_switchkins_test_3.ngc
demos/boat-xyzac.ngc
demos/impeller-7bl-xyzac.ngc
demos/xyzbc_switchkins.ngc
demos/boat-xyzbc.ngc
***********************************************
Note: IMPORTANT ini file requirements:
[HAL]
HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
[HALUI]
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430
***********************************************

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wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc vendored Normal file
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; zmax zmin r frate n a b c dist
o<xyzac_switchkins_sub> call [10] [5] [10][1000][3][20][0][45][20]
m2

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; for debugging, use mdi to set global #<_switchkins_debug>=1
#<FRATE>=1000
M429
G0 X0 Y0 Z0 A0 C0
G0 C90 X10 Y0
G1 F#<FRATE> Z2
M428
G1 F#<FRATE> Z0
M429
G1 F#<FRATE> Z2
G0 C90 X0 Y10
G1 F#<FRATE> Z0
M428
G1 F#<FRATE> Z2
M429
G1 F#<FRATE> Z0
G0 C90 X10 Y30
G1 F#<FRATE> Z2
M428
G1 F#<FRATE> Z0
M429
G1 F#<FRATE> Z2
G0 C90 X30 Y10
G1 F#<FRATE> Z0
M428
G1 F#<FRATE> Z2
M429
G1 F#<FRATE> Z0
G0 X0 Y0 Z0 A0 C0
M2

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wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc vendored Normal file
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; for debugging, use mdi to set global #<_switchkins_debug>=1
#<FRATE>=1000
M429 ;Trivkins
G64 P0.01
S1500 M3
G0 X0 Y0 Z5 A0 C0
G1 F#<FRATE> Z0
G1 X20 Y0 F#<FRATE>
M428 ;XYZAC
G1 C90
G1 X20
G1 Y20
G1 X0
G1 Y0
G1 A20
G1 X-20
G1 Y-20
G1 X0
G1 Y0
(-------)
G1 C45
G1 X-15
G1 Y15
G1 X0
G1 Y0
G1 Y-15
G1 X15
G1 Y0
G1 X0
(-------)
G1 C90 X15
G1 C180 Y15
G1 C270 X0
G1 C360 Y0
G1 C0
G1 C-90 X-15
G1 C-180 Y-15
G1 C-270 X0
G1 C-360 Y0
G1 Z5
M429 ;Trivkins
G1 X0 Y0 Z1 A0 C0
M2

15
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;# enable optional stop for m1
m429 ;trivkins
G0 X0 Y0 Z0 A0 C0
G0 C90 X10 Y0
G1 F1000 Z2
(debug,A expect: 10 0 2) m1
(debug,B expect: 10 0 2) m1
m428 ;tcp
(debug,C expect: 0 -10 2) m1
g1f1000 z0
(debug,D expect: 0 -10 0) m1
(debug,E expect: 0 -10 0) m1
m429 ;trivkins
(debug,F expect: 10 0 0)
m2

3
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; zmax zmin r frate n a b c dist
o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]
m2

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;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
o<428remap>sub
#<kinstype> = 1 ; xyzac,xyzbc
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
o1 if [exists [#<_hal[motion.switchkins-type]>]]
o1 else
(debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
(debug,STOP)
M2
o1 endif
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
M66 E0 L0 ; force synch
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
(debug,M428: Wrong motion.switchkins-type)
(debug,or missing hal net to analog-out-0x)
(debug,STOP)
M2
o2 else
o2 endif
o<428remap>endsub

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;M429 by remap: kinstype==0 Identity kinematics
o<429remap>sub
#<kinstype> = 0
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
o1 if [exists [#<_hal[motion.switchkins-type]>]]
o1 else
(debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
(debug,STOP)
M2
o1 endif
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
M66 E0 L0 ; force synch
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
(debug,M429:Wrong motion.switchkins-type)
(debug,or missing hal net to analog-out-0x)
(debug,STOP)
M2
o2 else
o2 endif
o<429remap>endsub

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;M430 by remap: kinstype==2 userk kins
o<430remap>sub
#<kinstype> = 2
#<SWITCHKINS_PIN> = 3 ; set N as required: motion.analog-out-0N
o1 if [exists [#<_hal[motion.switchkins-type]>]]
o1 else
(debug,M430:Missing [RS274NGC]HAL_PIN_VARS=1)
(debug,STOP)
M2
o1 endif
M68 E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
M66 E0 L0 ; force synch
o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
(debug,M430:Wrong motion.switchkins-type)
(debug,or missing hal net to analog-out-0x)
(debug,STOP)
M2
o2 else
o2 endif
o<430remap>endsub

42
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(info: tests for values of [xyz]-rot-point)
o<centering>sub
#<xstart> = #1 (=-2.5)
#<ystart> = #2 (=-2.5)
#<xlen> = #3 (= 5)
#<ylen> = #4 (= 5)
#<zfinal> = #5 (=60)
#<n> = #6 (=12)
#<f> = #7 (=1000 feed)
#<angle> = 0
#<delta_angle> = [360/#<n>]
o1 if [exists [#<_hal[xyzac-trt-kins.x-rot-point]>]]
(debug,x-rot-point=#<_hal[xyzac-trt-kins.x-rot-point]>)
(debug,y-rot-point=#<_hal[xyzac-trt-kins.y-rot-point]>)
(debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)
o1 endif
o2 if [exists [#<_hal[xyzbc-trt-kins.x-rot-point]>]]
(debug,x-rot-point=#<_hal[xyzbc-trt-kins.x-rot-point]>)
(debug,y-rot-point=#<_hal[xyzbc-trt-kins.y-rot-point]>)
(debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)
o2 endif
M429 ;Identity kinematics
g0 x#<xstart> y#<ystart> z0 c0
M428 ;tcp
g61
o10 while [#<angle> le 360]
g1 f#<f>
#<angle> = [#<angle> + #<delta_angle>]
g0 c#<angle>
g1 x[#<xstart> + #<xlen>]
g1 y[#<ystart> + #<ylen>]
g1 x[#<xstart> + 0 ]
g1 y[#<ystart> + 0 ]
o10 endwhile
M429 ;Identity kinematics
g0 x0 y0 z#<zfinal> c0
o<centering>endsub

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; helix using switchkins (xyzac) a,c angles
o<helix_ac>sub
#<zmax> = #1 (=10)
#<zmin> = #2 (= 5)
#<r> = #3 (=10)
#<frate> = #4 (=1000)
#<n> = #5 (=3)
#<a> = #6 (=45)
#<b> = #7 (=0 NA)
#<c> = #8 (=20)
M429 ;Identity kinematics
g0 x[#<_x> - #<r>] ;adjust for radius
g10l20p0 x0y0 z#<zmax> a0 c0 ;new g54
M428 ;XYZAC
g0a#<a>c#<c> ;exercise a,c
f#<frate> g2i#<r>z#<zmin> p#<n> ;helix
M429 ;Identity kinematics
g0 x0 y0 z#<zmax> a0 c0 ;return to start
g0 x[#<_x> + #<r>] ;adjust restore
M428 ;XYZAC
o<helix_ac>endsub

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; helix using switchkins (xyzbc) b,c angles
o<helix_bc>sub
#<zmax> = #1 (=10)
#<zmin> = #2 (= 5)
#<r> = #3 (=10)
#<frate> = #4 (=1000)
#<n> = #5 (=3)
#<a> = #6 (=0 NA)
#<b> = #7 (=45)
#<c> = #8 (=20)
M429 ;Identity kinematics
g0 x[#<_x> - #<r>] ;adjust for radius
g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54
M428 ;XYZBC
g0b#<b>c#<c> ;exercise b,c
f#<frate> g2i#<r>z#<zmin> p#<n> ;helix
M429 ;Identity kinematics
g0 x0 y0 z#<zmax> b0 c0 ;return to start
g0 x[#<_x> + #<r>] ;adjust restore
M428 ;XYZBC
o<helix_bc>endsub

47
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc vendored Normal file
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; ngcgui-compatible subroutine
(info: helix in each quadrant at angles A,C)
o<xyzac_switchkins_sub>sub
#<zmax> = #1 (=10)
#<zmin> = #2 (= 5)
#<r> = #3 (=10 radius)
#<frate> = #4 (=1000 feedrate)
#<n> = #5 (=3 n circles)
#<a> = #6 (=30 A angle)
#<b> = #7 (=0 B angle NA)
#<c> = #8 (=45 C angle)
#<dist> = #9 (=20 distance)
; quadrant I
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> a0 c0 ;MACHINE coordinates
g10l20p0 x0y0 z#<zmax> a0 c0 ;new g54
g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position
o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
; quadrant II
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> a0 c0
g10l20p0 x0y0 z#<zmax> a0 c0
g0 x-#<dist> y+#<dist> z#<zmax>
o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
; quadrant III
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> a0 c0
g10l20p0 x0y0 z#<zmax> a0 c0
g0 x-#<dist> y-#<dist> z#<zmax>
o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
; quadrant IV
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> a0 c0
g10l20p0 x0y0 z#<zmax> a0 c0
g0 x+#<dist> y-#<dist> z#<zmax>
o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
;final position
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> ;MACHINE coordinates
g10l20p0 x0y0 z#<zmax> ;new g54
o<xyzac_switchkins_sub>endsub

47
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc vendored Normal file
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; ngcgui-compatible subroutine
(info: helix in each quadrant at angles B,C)
o<xyzbc_switchkins_sub>sub
#<zmax> = #1 (=10)
#<zmin> = #2 (= 5)
#<r> = #3 (=10 radius)
#<frate> = #4 (=1000 feedrate)
#<n> = #5 (=3 n circles)
#<a> = #6 (=0 A angle NA)
#<b> = #7 (=30 B angle)
#<c> = #8 (=45 C angle)
#<dist> = #9 (=20 distance)
; quadrant I
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> b0 c0 ;MACHINE coordinates
g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54
g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position
o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
; quadrant II
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> b0 c0
g10l20p0 x0y0 z#<zmax> b0 c0
g0 x-#<dist> y+#<dist> z#<zmax>
o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
; quadrant III
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> b0 c0
g10l20p0 x0y0 z#<zmax> b0 c0
g0 x-#<dist> y-#<dist> z#<zmax>
o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
; quadrant IV
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> b0 c0
g10l20p0 x0y0 z#<zmax> b0 c0
g0 x+#<dist> y-#<dist> z#<zmax>
o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
;final position
M429 ;Identity kinematics
g53 g0 x0y0 z#<zmax> ;MACHINE coordinates
g10l20p0 x0y0 z#<zmax> ;new g54
o<xyzbc_switchkins_sub>endsub

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pin+motion.analog-out-03
pin+motion.switchkins-type
pin+joint.0.pos-cmd
pin+joint.1.pos-cmd
pin+joint.2.pos-cmd
pin+joint.3.pos-cmd
pin+joint.4.pos-cmd
pin+axis.x.pos-cmd
pin+axis.y.pos-cmd
pin+axis.z.pos-cmd
pin+axis.a.pos-cmd
pin+axis.b.pos-cmd
pin+axis.c.pos-cmd
pin+pyvcp.tcpkins-button
pin+pyvcp.identitykins-button
pin+pyvcp.vismach-clear
pin+kinstype-0
pin+kinstype-1
pin+halui.mdi-command-00
pin+halui.mdi-command-01
pin+kinstype.is-0
pin+kinstype.is-1
pin+kinstype.is-2

12
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal vendored Normal file
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# switchkins pyvcp connections for:
# xyzac-trt-kins.ini,xyzbc-trt-kins.ini
net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0
net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1
net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2
net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear
net :type0-button <= pyvcp.type0-button => halui.mdi-command-00
net :type1-button <= pyvcp.type1-button => halui.mdi-command-01
net :type2-button <= pyvcp.type2-button => halui.mdi-command-02

182
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini vendored Normal file
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[APPLICATIONS]
# uncomment to enable:
#APP = halshow --fformat %.5f switchkins.halshow
[EMC]
VERSION = 1.1
MACHINE = sim-xyzac-trt-kins (switchkins)
[DISPLAY]
GEOMETRY = XYZ-A
OPEN_FILE = ./demos/xyzac_switchkins.ngc
PYVCP = ./xyzac-trt.xml
JOG_AXES = XYZC
DISPLAY = axis
MAX_ANGULAR_VELOCITY = 360
MAX_LINEAR_VELOCITY = 1000
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2
PROGRAM_PREFIX = ../../nc_files
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1
#EDITOR = geany
TOOL_EDITOR = tooledit z diam
TKPKG = Ngcgui 1.0
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc
NGCGUI_SUBFILE = centering.ngc
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
HAL_PIN_VARS = 1
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
REMAP = M430 modalgroup=10 ngc=430remap
PARAMETER_FILE = xyzac.var
[KINS]
#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
# default switchkins-type == 0 is xyzac-trt-kins
# here switchkins-type == 0 is identity kins
KINEMATICS = xyzac-trt-kins sparm=identityfirst
JOINTS = 5
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
HALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset
HALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset
HALCMD = sets :y-offset 20
HALCMD = sets :z-offset 10
# not currently supported by xyzac-trt-gui:
HALCMD = setp xyzac-trt-kins.x-rot-point 0
HALCMD = setp xyzac-trt-kins.y-rot-point 0
HALCMD = setp xyzac-trt-kins.z-rot-point 0
HALCMD = setp xyzac-trt-kins.conventional-directions 0
[HALUI]
# NOTE: kinstype==0 is identity kins because sparm=identityfirst
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzac kins (motion.switchkins-type==1)
# M430:userk kins (motion.switchkins-type==2)
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430
[TRAJ]
COORDINATES = XYZAC
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 35
MAX_LINEAR_ACCELERATION = 400
DEFAULT_LINEAR_ACCELERATION = 300
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT = 1
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[EMCIO]
TOOL_TABLE = xyzac-trt.tbl
[AXIS_X]
MIN_LIMIT = -200
MAX_LIMIT = 200
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Y]
MIN_LIMIT = -100
MAX_LIMIT = 100
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Z]
MIN_LIMIT = -120
MAX_LIMIT = 120
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_A]
MIN_LIMIT = -100
MAX_LIMIT = 50
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[AXIS_C]
MIN_LIMIT = -36000
MAX_LIMIT = 36000
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_0]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -200
MAX_LIMIT = 200
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -100
MAX_LIMIT = 100
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -100
MAX_LIMIT = 50
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_4]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -36000
MAX_LIMIT = 36000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0

10
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl vendored Normal file
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T1 P1 Z0 D1 ;end mill
T2 P2 Z15 D8 ;end mill
T3 P3 Z0 D4.2 ;#7 tap drill
T4 P4 Z0 D10
T5 P5 Z30 D10
T6 P6 Z30 D10
T7 P7 Z30 D10
T8 P8 Z30 D10
T9 P9 Z30 D10
T10 P10 D0.5

37
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt vendored Normal file
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xyzac-trt-kins (switchkins)
Uses remapped user m codes for kins switch:
M429: Identity Kinematics
M428: XYZAC (TCP)
M430: userk Kinematics
A hal net is required to connect the
analog out pin N, Example (for N=3):
net :kinstype-select <= motion.analog-out-03
net :kinstype-select => motion.switchkins-type
Hal Input pins:
xyzac-trt-kins.y-offset
xyzac-trt-kins.z-offset
Y and Z offsets are the offsets from the center
of rotation of the A axis relative to the center
of rotation of the C axis.
Hal Input pins:
xyzac-trt-kins.x-rot-point
xyzac-trt-kins.y-rot-point
xyzac-trt-kins.z-rot-point
X, Y and Z rot-point pins represent the
offsets of the center of rotation of the C axis
relative to the machine absolute zero
Hal Input pins:
xyzac-trt-kins.conventional-directions
Pin conventional-directions is false by default. If true,
axis directions follow the conventions as defined
at https://linuxcnc.org/docs/html/gcode/machining-center.html#_rotational_axes

45
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml vendored Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<label>
<text>"SWITCHKINS"</text>
<relief>RIDGE</relief>
<bd>3</bd>
</label>
<multilabel>
<legends>["0:IDENTITY", "1: XYZAC ", "2: USERK "]</legends>
<font>("Helvetica",16)</font>
<bg>"black"</bg>
<fg>"yellow"</fg>
</multilabel>
<button>
<halpin>"type0-button"</halpin>
<text>"IDENTITY"</text>
<bd>3</bd>
</button>
<button>
<halpin>"type1-button"</halpin>
<text>"TCP:XYZAC"</text>
<bd>3</bd>
</button>
<button>
<halpin>"type2-button"</halpin>
<text>"userk "</text>
<bd>3</bd>
</button>
</vbox>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<button>
<halpin>"vismach-clear"</halpin>
<text>"vismach-clear"</text>
<bd>3</bd>
</button>
</vbox>
</pyvcp>

207
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal vendored Normal file
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# Sat Jun 06 15:43:11 CST 2026
#
# This file: ./xyzac-trt_cmds.hal
# Created by: /home/cnc/桌面/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl
# With options:
# From inifile: /home/cnc/桌面/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
# Halfiles: LIB:basic_sim.tcl
#
# This file contains the hal commands produced by basic_sim.tcl
# (and any hal commands executed prior to its execution).
# ------------------------------------------------------------------
# To use ./xyzac-trt_cmds.hal in the original inifile (or a copy of it),
# edit to change:
# [HAL]
# HALFILE = LIB:basic_sim.tcl parameters
# to:
# [HAL]
# HALFILE = ./xyzac-trt_cmds.hal
#
# Notes:
# 1) Inifile Variables substitutions specified in the inifile
# and interpreted by halcmd are automatically substituted
# in the created halfile (./xyzac-trt_cmds.hal).
# 2) Input pins connected to a signal with no writer are
# not included in the setp listings herein so must be added
# manually
#
# user space components
loadusr -W hal_manualtoolchange
# components
#preloaded module: loadrt tpmod
#preloaded module: loadrt homemod
loadrt xyzac-trt-kins sparm=identityfirst
loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5
#loadrt __servo-thread (not loaded by loadrt, no args saved)
loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid
loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux
loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel
loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch
loadrt sim_spindle names=sim_spindle
loadrt limit2 names=limit_speed
loadrt lowpass names=spindle_mass
loadrt near names=near_speed
loadrt scale names=rpm_rps
# pin aliases
# param aliases
# signals
# nets
net J0:acc J0_accel.out
net J0:enable joint.0.amp-enable-out => J0_pid.enable
net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
net J0:on-pos J0_pid.output => J0_mux.in1
net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
net J0:vel J0_vel.out => J0_accel.in
net J1:acc J1_accel.out
net J1:enable joint.1.amp-enable-out => J1_pid.enable
net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
net J1:on-pos J1_pid.output => J1_mux.in1
net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
net J1:vel J1_vel.out => J1_accel.in
net J2:acc J2_accel.out
net J2:enable joint.2.amp-enable-out => J2_pid.enable
net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
net J2:on-pos J2_pid.output => J2_mux.in1
net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
net J2:vel J2_vel.out => J2_accel.in
net J3:acc J3_accel.out
net J3:enable joint.3.amp-enable-out => J3_pid.enable
net J3:homesw J3_switch.home-sw => joint.3.home-sw-in
net J3:on-pos J3_pid.output => J3_mux.in1
net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command
net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb
net J3:vel J3_vel.out => J3_accel.in
net J4:acc J4_accel.out
net J4:enable joint.4.amp-enable-out => J4_pid.enable
net J4:homesw J4_switch.home-sw => joint.4.home-sw-in
net J4:on-pos J4_pid.output => J4_mux.in1
net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command
net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb
net J4:vel J4_vel.out => J4_accel.in
net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel
net spindle-at-speed near_speed.out => spindle.0.at-speed
net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
net spindle-orient spindle.0.orient => spindle.0.is-oriented
net spindle-pos sim_spindle.position-fb => spindle.0.revs
net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed
net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
# parameter values
setp J0_accel.tmax 0
setp J0_mux.tmax 0
setp J0_pid.do-pid-calcs.tmax 0
setp J0_switch.tmax 0
setp J0_vel.tmax 0
setp J1_accel.tmax 0
setp J1_mux.tmax 0
setp J1_pid.do-pid-calcs.tmax 0
setp J1_switch.tmax 0
setp J1_vel.tmax 0
setp J2_accel.tmax 0
setp J2_mux.tmax 0
setp J2_pid.do-pid-calcs.tmax 0
setp J2_switch.tmax 0
setp J2_vel.tmax 0
setp J3_accel.tmax 0
setp J3_mux.tmax 0
setp J3_pid.do-pid-calcs.tmax 0
setp J3_switch.tmax 0
setp J3_vel.tmax 0
setp J4_accel.tmax 0
setp J4_mux.tmax 0
setp J4_pid.do-pid-calcs.tmax 0
setp J4_switch.tmax 0
setp J4_vel.tmax 0
setp limit_speed.tmax 0
setp motion-command-handler.tmax 0
setp motion-controller.tmax 0
setp near_speed.difference 10
setp near_speed.scale 1.1
setp near_speed.tmax 0
setp rpm_rps.tmax 0
setp servo-thread.tmax 0
setp sim_spindle.scale 0.01666667
setp sim_spindle.tmax 0
setp spindle_mass.gain 0.07
setp spindle_mass.tmax 0
# realtime thread/function links
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf J0_pid.do-pid-calcs servo-thread
addf J1_pid.do-pid-calcs servo-thread
addf J2_pid.do-pid-calcs servo-thread
addf J3_pid.do-pid-calcs servo-thread
addf J4_pid.do-pid-calcs servo-thread
addf J0_mux servo-thread
addf J1_mux servo-thread
addf J2_mux servo-thread
addf J3_mux servo-thread
addf J4_mux servo-thread
addf J0_vel servo-thread
addf J0_accel servo-thread
addf J1_vel servo-thread
addf J1_accel servo-thread
addf J2_vel servo-thread
addf J2_accel servo-thread
addf J3_vel servo-thread
addf J3_accel servo-thread
addf J4_vel servo-thread
addf J4_accel servo-thread
addf J0_switch servo-thread
addf J1_switch servo-thread
addf J2_switch servo-thread
addf J3_switch servo-thread
addf J4_switch servo-thread
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
# setp commands for unconnected input pins
setp J0_pid.FF0 1.0
setp J0_pid.Pgain 0
setp J0_pid.Dgain 0
setp J0_pid.Igain 0
setp J0_pid.FF1 0
setp J0_pid.FF2 0
setp J1_pid.FF0 1.0
setp J1_pid.Pgain 0
setp J1_pid.Dgain 0
setp J1_pid.Igain 0
setp J1_pid.FF1 0
setp J1_pid.FF2 0
setp J2_pid.FF0 1.0
setp J2_pid.Pgain 0
setp J2_pid.Dgain 0
setp J2_pid.Igain 0
setp J2_pid.FF1 0
setp J2_pid.FF2 0
setp J3_pid.FF0 1.0
setp J3_pid.Pgain 0
setp J3_pid.Dgain 0
setp J3_pid.Igain 0
setp J3_pid.FF1 0
setp J3_pid.FF2 0
setp J4_pid.FF0 1.0
setp J4_pid.Pgain 0
setp J4_pid.Dgain 0
setp J4_pid.Igain 0
setp J4_pid.FF1 0
setp J4_pid.FF2 0
setp sim_spindle.scale 0.01666667
setp limit_speed.maxv 5000.0
setp spindle_mass.gain .07
setp near_speed.scale 1.1
setp near_speed.difference 10

182
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini vendored Normal file
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[APPLICATIONS]
# uncomment to enable:
#APP = halshow --fformat %.5f switchkins.halshow
[EMC]
VERSION = 1.1
MACHINE = sim-xyzbc-trt-kins (switchkins)
[DISPLAY]
GEOMETRY = XYZB
OPEN_FILE = ./demos/xyzbc_switchkins.ngc
PYVCP = ./xyzbc-trt.xml
JOG_AXES = XYZC
DISPLAY = axis
MAX_ANGULAR_VELOCITY = 360
MAX_LINEAR_VELOCITY = 1000
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2
PROGRAM_PREFIX = ../../nc_files
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1
#EDITOR = geany
TOOL_EDITOR = tooledit z diam
TKPKG = Ngcgui 1.0
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_SUBFILE = xyzbc_switchkins_sub.ngc
NGCGUI_SUBFILE = centering.ngc
[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
HAL_PIN_VARS = 1
REMAP = M428 modalgroup=10 ngc=428remap
REMAP = M429 modalgroup=10 ngc=429remap
REMAP = M430 modalgroup=10 ngc=430remap
PARAMETER_FILE = xyzbc.var
[KINS]
#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
# default switchkins-type == 0 is xyzbc-trt-kins
# here switchkins-type == 0 is identity kins
KINEMATICS = xyzbc-trt-kins sparm=identityfirst
JOINTS = 5
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal
# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
# vismach xyzbc-trt-gui items
HALCMD = loadusr -W xyzbc-trt-gui
HALCMD = net :table-x joint.0.pos-fb xyzbc-trt-gui.table-x
HALCMD = net :saddle-y joint.1.pos-fb xyzbc-trt-gui.saddle-y
HALCMD = net :spindle-z joint.2.pos-fb xyzbc-trt-gui.spindle-z
HALCMD = net :tilt-b joint.3.pos-fb xyzbc-trt-gui.tilt-b
HALCMD = net :rotate-c joint.4.pos-fb xyzbc-trt-gui.rotate-c
HALCMD = net :tool-offset motion.tooloffset.z
HALCMD = net :tool-offset xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset
HALCMD = net :x-offset xyzbc-trt-kins.x-offset xyzbc-trt-gui.x-offset
HALCMD = net :z-offset xyzbc-trt-kins.z-offset xyzbc-trt-gui.z-offset
HALCMD = sets :x-offset -20
HALCMD = sets :z-offset -15
# not currently supported by xyzbc-trt-gui:
HALCMD = setp xyzbc-trt-kins.x-rot-point 0
HALCMD = setp xyzbc-trt-kins.y-rot-point 0
HALCMD = setp xyzbc-trt-kins.z-rot-point 0
HALCMD = setp xyzbc-trt-kins.conventional-directions 0
[HALUI]
# NOTE: kinstype==0 is identity kins because sparm=identityfirst
# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
# M428:xyzbc kins (motion.switchkins-type==1)
# M430:userk kins (motion.switchkins-type==2)
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430
[TRAJ]
COORDINATES = XYZBC
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 35
MAX_LINEAR_ACCELERATION = 400
DEFAULT_LINEAR_ACCELERATION = 300
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT = 1
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[EMCIO]
TOOL_TABLE = xyzbc-trt.tbl
[AXIS_X]
MIN_LIMIT = -200
MAX_LIMIT = 200
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Y]
MIN_LIMIT = -100
MAX_LIMIT = 100
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_Z]
MIN_LIMIT = -120
MAX_LIMIT = 120
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
[AXIS_B]
MIN_LIMIT = -36000
MAX_LIMIT = 36000
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[AXIS_C]
MIN_LIMIT = -36000
MAX_LIMIT = 36000
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
[JOINT_0]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -200
MAX_LIMIT = 200
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -100
MAX_LIMIT = 100
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 20
MAX_ACCELERATION = 300
MIN_LIMIT = -120
MAX_LIMIT = 120
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -100
MAX_LIMIT = 50
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0
[JOINT_4]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 30
MAX_ACCELERATION = 300
MIN_LIMIT = -36000
MAX_LIMIT = 36000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0

2
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl vendored Normal file
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T1 P1 D1
T2 P2 Z10 D8

37
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt vendored Normal file
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xyzbc-trt-kins (switchkins)
Uses remapped user m codes for kins switch:
M429: Identity Kinematics
M428: XYZBC (TCP)
M430: userk Kinematics
A hal net is required to connect the
analog out pin N, Example (for N=3):
net :kinstype-select <= motion.analog-out-03
net :kinstype-select => motion.switchkins-type
Hal Input pins:
xyzbc-trt-kins.x-offset
xyzbc-trt-kins.z-offset
X and Z offsets are the offsets from the center
of rotation of the B axis relative to the center
of rotation of the C axis.
Hal Input pins:
xyzbc-trt-kins.x-rot-point
xyzbc-trt-kins.y-rot-point
xyzbc-trt-kins.z-rot-point
X, Y and Z rot-point pins represent the
offsets of the center of rotation of the C axis
relative to the machine absolute zero
Hal Input pins:
xyzbc-trt-kins.conventional-directions
Pin conventional-directions is false by default. If true,
axis directions follow the conventions as defined
at https://linuxcnc.org/docs/html/gcode/machining-center.html#_rotational_axes

45
wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml vendored Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<label>
<text>"SWITCHKINS"</text>
<relief>RIDGE</relief>
<bd>3</bd>
</label>
<multilabel>
<legends>["0:IDENTITY", "1: XYZBC ", "2: USERK "]</legends>
<font>("Helvetica",16)</font>
<bg>"black"</bg>
<fg>"yellow"</fg>
</multilabel>
<button>
<halpin>"type0-button"</halpin>
<text>"IDENTITY"</text>
<bd>3</bd>
</button>
<button>
<halpin>"type1-button"</halpin>
<text>"TCP:XYZBC"</text>
<bd>3</bd>
</button>
<button>
<halpin>"type2-button"</halpin>
<text>"userk"</text>
<bd>3</bd>
</button>
</vbox>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<button>
<halpin>"vismach-clear"</halpin>
<text>"vismach-clear"</text>
<bd>3</bd>
</button>
</vbox>
</pyvcp>