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mes123456
140
web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzbc-trt.js
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140
web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzbc-trt.js
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import { xyzacTrtProfile } from "./xyzac-trt.js";
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import { getSourceReferencesForProfile } from "./source-reference-map.js";
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import { xyzacTrtPyvcpPanelSchema } from "../panel-schema/xyzac-trt-pyvcp.js";
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const sourceReferenceObjects = getSourceReferencesForProfile("xyzbc-trt");
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export const xyzbcTrtProfile = {
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...xyzacTrtProfile,
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id: "xyzbc-trt",
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title: "XYZBC table rotary tilting",
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iniPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
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pyvcpXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml",
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generatedHalPath: null,
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toolTablePath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl",
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machineName: "sim-xyzbc-trt-kins (switchkins)",
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display: {
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...xyzacTrtProfile.display,
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geometry: "XYZB",
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openFile: "./demos/xyzbc_switchkins.ngc",
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pyvcp: "./xyzbc-trt.xml",
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},
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rs274ngc: {
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...xyzacTrtProfile.rs274ngc,
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parameterFile: "xyzbc.var",
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},
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machineFileStaging: {
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defaultProgramFilename: "xyzbc_switchkins.ngc",
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wasmDir: "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt",
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},
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coordinates: ["X", "Y", "Z", "B", "C"],
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joints: ["joint.0", "joint.1", "joint.2", "joint.3", "joint.4"],
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kinematics: "xyzbc-trt-kins",
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kinematicsModuleId: "xyzbc-trt",
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kinematicsParameters: {
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...xyzacTrtProfile.kinematicsParameters,
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switchkinsTypes: [
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{ value: 0, label: "identity", mdiCommand: "M429", webKinsType: "identity" },
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{ value: 1, label: "XYZBC TCP", mdiCommand: "M428", webKinsType: "tcp-xyzbc" },
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{ value: 2, label: "USERK", mdiCommand: "M430", webKinsType: "userk" },
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],
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},
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hal: {
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...xyzacTrtProfile.hal,
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halcmd: {
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...xyzacTrtProfile.hal.halcmd,
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loadusr: ["xyzbc-trt-gui"],
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feedbackNets: [
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{ signal: "table-x", source: "joint.0.pos-fb", target: "xyzbc-trt-gui.table-x" },
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{ signal: "saddle-y", source: "joint.1.pos-fb", target: "xyzbc-trt-gui.saddle-y" },
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{ signal: "spindle-z", source: "joint.2.pos-fb", target: "xyzbc-trt-gui.spindle-z" },
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{ signal: "tilt-b", source: "joint.3.pos-fb", target: "xyzbc-trt-gui.tilt-b" },
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{ signal: "rotate-c", source: "joint.4.pos-fb", target: "xyzbc-trt-gui.rotate-c" },
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],
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offsetNets: [
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{ signal: "tool-offset", source: "motion.tooloffset.z", target: "xyzbc-trt-kins.tool-offset" },
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{ signal: "tool-offset", source: "xyzbc-trt-kins.tool-offset", target: "xyzbc-trt-gui.tool-offset" },
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{ signal: "x-offset", source: "xyzbc-trt-kins.x-offset", target: "xyzbc-trt-gui.x-offset" },
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{ signal: "z-offset", source: "xyzbc-trt-kins.z-offset", target: "xyzbc-trt-gui.z-offset" },
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],
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initialSets: [
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{ pin: "x-offset", value: -20 },
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{ pin: "z-offset", value: -15 },
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{ pin: "xyzbc-trt-kins.x-rot-point", value: 0 },
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{ pin: "xyzbc-trt-kins.y-rot-point", value: 0 },
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{ pin: "xyzbc-trt-kins.z-rot-point", value: 0 },
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{ pin: "xyzbc-trt-kins.conventional-directions", value: 0 },
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],
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},
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},
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traj: {
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...xyzacTrtProfile.traj,
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coordinates: "XYZBC",
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},
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axisLimits: {
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X: xyzacTrtProfile.axisLimits.X,
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Y: xyzacTrtProfile.axisLimits.Y,
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Z: xyzacTrtProfile.axisLimits.Z,
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B: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
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C: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
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},
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jointConfig: [
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xyzacTrtProfile.jointConfig[0],
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xyzacTrtProfile.jointConfig[1],
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xyzacTrtProfile.jointConfig[2],
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{ id: 3, axis: "B", type: "ANGULAR", home: 0, min: -100, max: 50, maxVelocity: 30, maxAcceleration: 300 },
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{ id: 4, axis: "C", type: "ANGULAR", home: 0, min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
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],
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halPins: [
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"motion.switchkins-type",
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"motion.analog-out-03",
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"motion.tooloffset.z",
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"xyzbc-trt-kins.tool-offset",
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"xyzbc-trt-kins.x-offset",
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"xyzbc-trt-kins.z-offset",
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"xyzbc-trt-kins.x-rot-point",
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"xyzbc-trt-kins.y-rot-point",
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"xyzbc-trt-kins.z-rot-point",
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"xyzbc-trt-kins.conventional-directions",
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"halui.mdi-command-00",
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"halui.mdi-command-01",
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"halui.mdi-command-02",
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],
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offsets: {
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x: -20,
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z: -15,
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xRotPoint: 0,
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yRotPoint: 0,
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zRotPoint: 0,
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conventionalDirections: 0,
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},
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sourceReferences: sourceReferenceObjects.map((reference) => reference.path),
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sourceReferenceObjects,
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panelSchema: {
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...xyzacTrtPyvcpPanelSchema,
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id: "xyzbc-trt-switchkins-pyvcp",
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profileId: "xyzbc-trt",
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sourceXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml",
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groups: xyzacTrtPyvcpPanelSchema.groups.map((group) => ({
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...group,
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controls: group.controls.map((control) => (
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control.id === "kinstype-legends"
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? {
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...control,
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legends: ["0:IDENTITY", "1: XYZBC ", "2: USERK "],
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}
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: control.id === "type1-button"
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? {
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...control,
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text: "TCP:XYZBC",
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webAction: { type: "SET_KINS_TYPE", kinsType: "tcp-xyzbc" },
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}
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: control
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)),
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})),
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},
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samplePrograms: [
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"configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
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"linuxcnc/nc_files/3D_Chips.ngc",
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],
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};
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