完善五轴 RTCP 仿真与验证资料

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/change.ngc

@@ -0,0 +1,75 @@
+
+o<change> sub
+;(debug, in change tool_in_spindle=#<tool_in_spindle> current_pocket=#<current_pocket>)
+;(debug, selected_tool=#<selected_tool> selected_pocket=#<selected_pocket>)
+
+;otherwise after the M6 this information is gone!
+#<tool> = #<selected_tool>
+#<pocket> = #<selected_pocket>
+
+; we must execute this only in the milltask interpreter
+; or preview will break, so test for '#<_task>' which is 1 for 
+; the milltask interpreter and 0 in the UI's
+O100 if [#<_task> EQ 0]
+        (debug, Task ist Null)
+O100     return [999]
+O100 endif
+
+;first go up
+G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]
+; then move to change position
+G53 G0 X[#<_ini[CHANGE_POSITION]X>] Y[#<_ini[CHANGE_POSITION]Y>]
+
+; cancel tool offset
+G49
+
+; using the code being remapped here means 'use builtin behaviour'
+M6
+
+O200 if [#<_hal[gmoccapy.toolmeasurement]> EQ 0]
+O200 return [3] ; indicate no tool measurement 
+O200 endif
+
+G53 G0 X[#<_ini[TOOLSENSOR]X>] Y[#<_ini[TOOLSENSOR]Y>]
+G53 G0 Z[#<_ini[TOOLSENSOR]Z>]
+
+O300 if [#<_hal[gmoccapy.searchvel]> LE 0]
+O300 return [-1] ; indicate searchvel <= 0 
+O300 endif
+
+O400 if [#<_hal[gmoccapy.probevel]> LE 0]
+O400 return [-2] ; indicate probevel <= 0 
+O400 endif
+
+F #<_hal[gmoccapy.searchvel]>
+G91
+G38.2 Z #<_ini[TOOLSENSOR]MAXPROBE>
+G0 Z2
+; This is commented out only for sim.
+;F #<_hal[gmoccapy.probevel]>
+;G38.2 Z-4
+
+O500 if [#5070 EQ 0]
+G90
+O500 return [-3] ; indicate probe contact failure to epilog
+O500 endif
+
+G90
+G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]
+
+#<touch_result> = #5063
+#<probeheight> = #<_hal[gmoccapy.probeheight]> 
+#<blockheight> = #<_hal[gmoccapy.blockheight]>
+
+;(DEBUG, #<touch_result>  #<probeheight>  #<blockheight>)
+
+G10 L1 P#<tool> Z[#<touch_result> - #<_hal[gmoccapy.probeheight]> + #<_hal[gmoccapy.blockheight]>]
+G43
+
+;G10 L1 P#<tool> Z#<touch_result>
+;G10 L2 P0 Z[#<workpieceheight> + #<probeheight> + #<touch_result>]
+
+; signal success be returning a value > 0:
+o<change> endsub [1]
+
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/change_g43.ngc

@@ -0,0 +1,21 @@
+o<change_g43> sub
+;(debug, in change tool_in_spindle=#<tool_in_spindle> current_pocket=#<current_pocket>)
+;(debug, selected_tool=#<selected_tool> selected_pocket=#<selected_pocket>)
+
+; we must execute this only in the milltask interpreter
+; or preview will break, so test for '#<_task>' which is 1 for 
+; the milltask interpreter and 0 in the UI's
+O100 if [#<_task> EQ 0]
+        (debug, Task ist Null)
+O100     return [999]
+O100 endif
+
+; using the code being remapped here means 'use builtin behaviour'
+M6
+
+; set tool offset
+G43
+
+; signal success be returning a value > 0:
+o<change_g43> endsub [1]
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/go_to_position.ngc

@@ -0,0 +1,26 @@
+; Testfile go to position
+; will jog the machine to a given position
+; the image path must be relative from your config dir or absolute, "~" is allowed
+(IMAGE, ./macros/images/goto_x_y_z.png)
+
+O<go_to_position> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<go_to_position> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/halo_world.ngc

@@ -0,0 +1,25 @@
+; Testfile "hello world"
+; will just give messages 
+
+O<halo_world> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G0 X10
+
+(MSG, Hallo Welt)
+(MSG, hello world)
+
+G0X-10
+
+O<halo_world> endsub
+
+M2
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/i_am_lost.ngc

@@ -0,0 +1,27 @@
+; Testfile I am Lost
+; will jog to machine zero and set all axis to zero
+
+; the image path must be relative from your config dir or absolute, "~" is allowed
+(IMAGE, ./macros/images/i_am_lost.png)
+
+O<i_am_lost> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+(MSG, Will now move to machine zero)
+G53 G0 X0 Y0 Z0
+(MSG, will now set all axis to zero)
+G10 L20 P0 X0 Y0 Z0
+(MSG, all done)
+
+
+O<i_am_lost> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/increment.ngc

@@ -0,0 +1,22 @@
+; Testfile "increment"
+; will move the machine in relative coordinates
+
+O<increment> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G91 G0 X#1 Y#2
+G90
+
+(DEBUG, X was [#1] and Y was [#2])
+
+O<increment> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/jog_around.ngc

@@ -0,0 +1,29 @@
+; Testfile "Jog around"
+; will just jog a little bit around
+
+O<jog_around> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G91 G0 X 25
+Y-25
+Z-25
+Y25
+X-25
+Z25
+F250
+G2 I 25
+
+(MSG, It is done!)
+
+O<jog_around> endsub
+
+M2
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_0.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_0> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_0> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_1.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_1> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_1> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_10.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_10> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_10> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_11.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_11> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_11> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_12.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_12> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_12> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_13.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_13> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_13> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_14.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_14> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_14> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_15.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_15> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_15> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_2.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_2> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_2> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_3.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_3> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_3> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_4.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_4> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_4> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_5.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_5> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_5> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_6.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_6> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_6> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_7.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_7> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_7> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_8.ngc

@@ -0,0 +1,27 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+; the image path must be relative from your config dir or absolute, "~" is allowed
+(IMAGE, ./macros/images/macro_8.png)
+
+O<macro_8> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_8> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_9.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_9> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_9> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_Instructions.txt

@@ -0,0 +1,44 @@
+This is a small instruction to include macros in gmoccapy.
+
+In your INI File you need to introduce a section called [MACROS]
+and for every macro you'll need to include a one-liner like so:
+
+MACRO = jog_around
+or 
+MACRO = increment xinc yinc
+
+where xinc and yinc are placeholders
+
+During execution of the macro, you will be asked to enter the values. 
+
+You are allowed to introduce 9 macros! 
+If you enter more macros, only the first 9 will appear with button in gmoccapy.
+
+In the [RS274NGC] section you may want to give a path to your macros like so:
+
+[RS274NGC]
+SUBROUTINE_PATH = nc_files/subroutines 
+
+or you place your macros in the nc_files folder.
+
+Each macro must have it's own file in one of the mentioned folders and they are normal subroutines, so the must begin with:
+
+O<jog_around> sub
+
+and end with
+
+O<jog_around> endsub
+M2
+
+The name of the file must be jog_around.ngc.
+And an macro must contain at least one movement of one axis.
+
+macro name in INI file have to be the same as the file name and the sub must have also the same name (case sensitive!)!
+
+BE CAREFUL:
+At this development step, the macros can only be interrupted by pressing the machine off button or the emergency exit button! I will check how to make this more secure! 
+
+Hope this does help.
+
+Norbert
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/on_abort.ngc

@@ -0,0 +1,9 @@
+%
+o<on_abort> sub
+
+G90
+G40
+G49
+
+o<on_abort> endsub
+%

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/settool_g43.ngc

@@ -0,0 +1,20 @@
+o<settool_g43> sub
+;(debug, tool=#<tool> pocket=#<pocket>)
+
+; we must execute this only in the milltask interpreter
+; or preview will break, so test for '#<_task>' which is 1 for 
+; the milltask interpreter and 0 in the UI's
+O100 if [#<_task> EQ 0]
+        (debug, Task ist Null)
+O100     return [999]
+O100 endif
+
+; using the code being remapped here means 'use builtin behaviour'
+m61 q#<tool>
+
+; set tool offset
+G43
+
+; signal success be returning a value > 0:
+o<settool_g43> endsub [1]
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/README

@@ -0,0 +1,12 @@
+Table Rotary/Tilting (trt) Sim configs
+
+xyzac-trt
+xyzbc-trt
+
+Example ngc files:
+  examples/boat-xyzac.ngc (!!! TOUCHOFF table Z to -13.25 !!!)
+  examples/boat-xyzbc.ngc (!!! TOUCHOFF table Z to - 8.30 !!!)
+
+Example ngc files (ngcgui compatible subroutines):
+  examples/test-xyzac.ngc
+  examples/test-xyzbc.ngc

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc

@@ -0,0 +1,47 @@
+o<test-xyzac> sub
+(test-xyzac-kins with offsets and tool change)
+( 5 AXIS XYZAC MILLING )
+
+ #<a_angle> =  #1 (=20)
+ #<c_angle> =  #2 (=30)
+  #<xy_max> =  #3 (=30)
+   #<z_max> =  #4 (=10)
+#<feedrate> =  #5 (=200)
+   #<tool1> =  #6 (=1 1st Tool)
+   #<tool2> =  #7 (=2 2nd Tool)
+  #<speed1> =  #8 (=500)
+  #<speed2> =  #9 (=600)
+
+; 'square with 2 rounded corners'
+#<x_max> = #<xy_max>
+#<y_max> = #<xy_max>
+#<g3_j>  = #<xy_max>
+
+N40 G00 G17 G40 G90 G94 Z10
+(first tool - no z-offset)
+T#<tool1> M6
+S#<speed1> M3
+G00 A#<a_angle> C#<c_angle>
+G43 H#<tool1> Z0
+G01 X#<x_max> F#<feedrate>
+G01 Y#<y_max>
+G01 X0
+G03 X-#<x_max> Y0 I0 J-#<g3_j>
+G00 Z#<z_max>
+G00 X0
+M5
+(next tool- with z-offset)
+T#<tool2> M6
+S#<speed2> M3
+G00 A#<a_angle> C#<c_angle>
+G43 H#<tool2> Z0
+G01 X-#<x_max> F#<feedrate>
+G01 Y-#<y_max>
+G01 X0
+G03 X#<x_max> Y0 I0 J#<g3_j>
+G0 Z#<z_max>
+G0 X0 Y0
+M5
+A0 C0
+
+o<test-xyzac> endsub

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc

@@ -0,0 +1,47 @@
+o<test-xyzbc> sub
+(test-xyzbc-trt-kins with offsets and tool change)
+( 5 AXIS XYZBC MILLING )
+
+ #<b_angle> =  #1 (=20)
+ #<c_angle> =  #2 (=30)
+  #<xy_max> =  #3 (=30)
+   #<z_max> =  #4 (=10)
+#<feedrate> =  #5 (=200)
+   #<tool1> =  #6 (=1 1st Tool)
+   #<tool2> =  #7 (=2 2nd Tool)
+  #<speed1> =  #8 (=500)
+  #<speed2> =  #9 (=600)
+
+;'square with 2 rounded corners'
+#<x_max> = #<xy_max>
+#<y_max> = #<xy_max>
+#<g3_j>  = #<xy_max>
+
+G00 G17 G40 G90 G94 Z10
+(first tool - no z-offset)
+T#<tool1> M6
+S#<speed1> M3
+G00 B#<b_angle> C#<c_angle>
+G43 H#<tool1> Z0
+G01 X#<x_max> F#<feedrate>
+G01 Y#<y_max>
+G01 X0
+G03 X-#<x_max> Y0 I0 J-#<g3_j>
+G00 Z#<z_max>
+G00 X0
+M5
+(next tool- with z-offset)
+T#<tool2> M6
+S#<speed2> M3
+G00 B#<b_angle> C#<c_angle>
+G43 H#<tool2> Z0
+G01 X-#<x_max> F#<feedrate>
+G01 Y-#<y_max>
+G01 X0
+G03 X#<x_max> Y0 I0 J#<g3_j>
+G0 Z#<z_max>
+G0 X0 Y0
+M5
+B0 C0
+
+o<test-xyzbc> endsub

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal

@@ -0,0 +1,22 @@
+###################################################################
+#        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
+
+net tool-change      gmoccapy.toolchange-change   <=  iocontrol.0.tool-change 
+net tool-changed     gmoccapy.toolchange-changed  =>  iocontrol.0.tool-changed
+net tool-prep-number gmoccapy.toolchange-number   <=  iocontrol.0.tool-prep-number
+
+net tool-offset  gmoccapy.tooloffset-z 
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/sim-xyzac-trt.pref

@@ -0,0 +1,97 @@
+[DEFAULT]
+spindle_start_rpm = 300
+scale_jog_vel = 21.0
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 10
+dro_size = 28
+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
+view = p
+mouse_btn_mode = 4
+hide_cursor = False
+system_name_tool = Working Offset
+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/gmoccapy
+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
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+show_dro_btn = False
+use_auto_units = True
+blockdel = False
+opstop = False
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+gremlin_view = rbt_view_p
+run_from_line = no_run
+unlock_way = no
+unlock_code = 123
+show_preview_on_offset = False
+use_keyboard_shortcuts = True
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+dro_digits = 3
+toggle_readout = True
+reload_tool = True
+tool_in_spindle = 0
+blockheight = 0.0
+use_toolmeasurement = False
+kbd_height = 250
+kbd_width = 880
+kbd_set_height = False
+kbd_set_width = False
+info_tab_page = 0
+jog_btn_size = 48
+jog_box_width = 360
+toolpage_use_calc = True
+offsetpage_use_calc = True
+gcodeview_font = monospace 10
+hide_titlebar = False
+icon_theme = classic
+gcode_theme = classic
+audio_enabled = True
+hide_tooltips = False
+system_name_g28 = G28
+system_name_g30 = G30
+iconview_sortorder = 0
+iconview_sortbydate = 1
+iconview_folderfirst = 0
+sort_by_date = False
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini

@@ -0,0 +1,156 @@
+[EMC]
+VERSION = 1.1
+MACHINE = sim-xyzac-trt
+DEBUG = 0
+
+[DISPLAY]
+OPEN_FILE = ./examples/impeller-7bl-xyzac.ngc
+JOG_AXES = XYZC
+DISPLAY = gmoccapy
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2
+PROGRAM_PREFIX = ../../../nc_files
+INTRO_GRAPHIC = emc2.gif
+INTRO_TIME = 1
+
+TKPKG = Ngcgui 1.0
+NGCGUI_FONT = Helvetica -12 normal
+NGCGUI_SUBFILE = test-xyzac.ngc
+
+[RS274NGC]
+PARAMETER_FILE = xyzac.var
+SUBROUTINE_PATH = ./examples:../../macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ../../python
+TOPLEVEL = ../../python/toplevel.py
+LOG_LEVEL = 0
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange
+
+# 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
+
+POSTGUI_HALFILE = postgui.hal
+
+[KINS]
+KINEMATICS = xyzac-trt-kins
+JOINTS =  5
+
+[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
+
+[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
+
+[AXIS_Y]
+MIN_LIMIT = -100
+MAX_LIMIT =  100
+MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[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
+
+[AXIS_Z]
+MIN_LIMIT = -120
+MAX_LIMIT =  120
+MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[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
+
+[AXIS_A]
+MIN_LIMIT = -100
+MAX_LIMIT =   50
+MAX_VELOCITY =   30
+MAX_ACCELERATION =   300
+
+[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
+
+[AXIS_C]
+MIN_LIMIT = -36000
+MAX_LIMIT =  36000
+MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+
+[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

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.tbl

@@ -0,0 +1,10 @@
+T1 P1 Z0 D6 ;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

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt_cmds.hal

@@ -0,0 +1,202 @@
+# Fri Jun 26 05:57:43 EDT 2026
+#
+# This file:    ./xyzac-trt_cmds.hal
+# Created by:   /home/meswork/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl
+# With options: -no_use_hal_manualtoolchange
+# From inifile: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini
+# Halfiles:     {LIB:basic_sim.tcl -no_use_hal_manualtoolchange}
+#
+# 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
+#
+
+# components
+#preloaded module: loadrt tpmod 
+#preloaded module: loadrt homemod 
+loadrt xyzac-trt-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-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
+net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+# 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

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var

@@ -0,0 +1,119 @@
+5161	0.000000
+5162	0.000000
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wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var.bak

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