{ "apiName": "xyzbc-trt-native-linuxcnc-evidence", "status": "ok", "collectedAt": "2026-07-05T18:56:53-0400", "executionMode": "auto-run", "sourceRoot": "/home/mes123456/cnc_wams/linuxcnc", "iniPath": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "programPath": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "programExists": true, "programLineCount": 3, "linuxcncRuntime": { "pythonApi": true, "processes": [ "mes1234+ 10220 1852 0 18:06 ? 00:00:00 linuxcncsvr -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "mes1234+ 10231 1852 0 18:06 ? 00:00:23 milltask -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "mes1234+ 10233 1852 0 18:06 ? 00:00:10 halui -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "mes1234+ 10270 1852 2 18:06 ? 00:01:14 /usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui", "mes1234+ 10394 1852 5 18:06 ? 00:02:52 /usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/axis -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "mes1234+ 18832 3067 20 18:56 ? 00:00:00 python3 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90", "mes1234+ 18840 18823 0 18:56 ? 00:00:00 sh -c node ../tools/collect-web-xyzbc-trt-evidence.mjs", "mes1234+ 18841 18840 99 18:56 ? 00:00:00 node ../tools/collect-web-xyzbc-trt-evidence.mjs" ], "startup": { "autostartRequested": true, "startedByCollector": false, "logPath": "/tmp/xyzbc-trt-native-evidence-linuxcnc.log" } }, "before": { "taskState": 4, "taskMode": 1, "interpState": 1, "execState": 2, "file": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "currentLine": 0, "readLine": 0, "axisMask": 55, "homed": [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ], "position": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "actualPosition": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "jointActualPosition": { "0": 0.0, "1": 0.0, "2": 0.0, "3": 0.0, "4": 0.0 }, "jointPosition": { "0": 0.0, "1": 0.0, "2": 0.0, "3": 0.0, "4": 0.0 }, "dtg": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "velocity": 0.0, "feedrate": 1.0, "rapidrate": 1.0, "spindle": [ { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": true, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 } ] }, "after": { "taskState": 4, "taskMode": 1, "interpState": 1, "execState": 2, "file": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "currentLine": 0, "readLine": 0, "axisMask": 55, "homed": [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ], "position": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "actualPosition": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "jointActualPosition": { "0": 0.0, "1": 0.0, "2": 0.0, "3": 0.0, "4": 0.0 }, "jointPosition": { "0": 0.0, "1": 0.0, "2": 0.0, "3": 0.0, "4": 0.0 }, "dtg": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "velocity": 0.0, "feedrate": 1.0, "rapidrate": 1.0, "spindle": [ { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": true, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 } ] }, "commandResult": { "requested": true, "program": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "events": [ { "elapsedSeconds": 0.0, "interpState": 1, "execState": 2, "currentLine": 0, "readLine": 0, "position": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "jointActualPosition": { "0": 0.0, "1": 0.0, "2": 0.0, "3": 0.0, "4": 0.0 }, "velocity": 0.0, "feedrate": 1.0, "spindle": [ { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": true, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 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0, "readLine": 0, "position": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "jointActualPosition": { "0": 0.0, "1": 0.0, "2": 0.0, "3": 0.0, "4": 0.0 }, "velocity": 0.0, "feedrate": 1.0, "spindle": [ { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": true, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 } ] }, { "elapsedSeconds": 0.101, "interpState": 1, "execState": 2, "currentLine": 0, "readLine": 0, "position": { "x": 0.0, "y": 0.0, "z": 0.0, "a": 0.0, "b": 0.0, "c": 0.0, "u": 0.0, "v": 0.0, "w": 0.0 }, "jointActualPosition": { "0": 0.0, "1": 0.0, "2": 0.0, "3": 0.0, "4": 0.0 }, "velocity": 0.0, "feedrate": 1.0, "spindle": [ { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": true, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 } ] } ], "status": "completed" }, "hal": { "pins": { "motion.switchkins-type": { "owner": "31", "type": "float", "direction": "IN", "value": 0.0, "linked": true, "raw": " 31 float IN 0 motion.switchkins-type <== :kinstype-select" }, "motion.analog-out-03": { "owner": "31", "type": "float", "direction": "OUT", "value": 0.0, "linked": true, "raw": " 31 float OUT 0 motion.analog-out-03 ==> :kinstype-select" }, "motion.tooloffset.z": { "owner": "31", "type": "float", "direction": "OUT", "value": 0.0, "linked": true, "raw": " 31 float OUT 0 motion.tooloffset.z ==> :tool-offset" }, "joint.0.pos-fb": { "owner": "31", "type": "float", "direction": "OUT", "value": 0.0, "linked": true, "raw": " 31 float OUT 0 joint.0.pos-fb ==> :table-x" }, "joint.1.pos-fb": { "owner": "31", "type": "float", "direction": "OUT", "value": 0.0, "linked": true, "raw": " 31 float OUT 0 joint.1.pos-fb ==> :saddle-y" }, "joint.2.pos-fb": { "owner": "31", "type": "float", "direction": "OUT", "value": 0.0, "linked": true, "raw": " 31 float OUT 0 joint.2.pos-fb ==> :spindle-z" }, "joint.3.pos-fb": { "owner": "31", "type": "float", "direction": "OUT", "value": 0.0, "linked": true, "raw": " 31 float OUT 0 joint.3.pos-fb ==> :tilt-b" }, "joint.4.pos-fb": { "owner": "31", "type": "float", "direction": "OUT", "value": 0.0, "linked": true, "raw": " 31 float OUT 0 joint.4.pos-fb ==> :rotate-c" }, "xyzbc-trt-kins.tool-offset": { "owner": "28", "type": "float", "direction": "IN", "value": 0.0, "linked": true, "raw": " 28 float IN 0 xyzbc-trt-kins.tool-offset <== :tool-offset" }, "xyzbc-trt-kins.x-offset": { "owner": "28", "type": "float", "direction": "IN", "value": -20.0, "linked": true, "raw": " 28 float IN -20 xyzbc-trt-kins.x-offset <== :x-offset" }, "xyzbc-trt-kins.z-offset": { "owner": "28", "type": "float", "direction": "IN", "value": -15.0, "linked": true, "raw": " 28 float IN -15 xyzbc-trt-kins.z-offset <== :z-offset" }, "xyzbc-trt-kins.x-rot-point": { "owner": "28", "type": "float", "direction": "IN", "value": 0.0, "linked": false, "raw": " 28 float IN 0 xyzbc-trt-kins.x-rot-point" }, "xyzbc-trt-kins.y-rot-point": { "owner": "28", "type": "float", "direction": "IN", "value": 0.0, "linked": false, "raw": " 28 float IN 0 xyzbc-trt-kins.y-rot-point" }, "xyzbc-trt-kins.z-rot-point": { "owner": "28", "type": "float", "direction": "IN", "value": 0.0, "linked": false, "raw": " 28 float IN 0 xyzbc-trt-kins.z-rot-point" }, "xyzbc-trt-kins.conventional-directions": { "owner": "28", "type": "bit", "direction": "IN", "value": "FALSE", "linked": false, "raw": " 28 bit IN FALSE xyzbc-trt-kins.conventional-directions" } }, "raw": [ { "command": [ "halcmd", "show", "pin", "motion.switchkins-type" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float IN 0 motion.switchkins-type <== :kinstype-select\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "motion.analog-out-03" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 motion.analog-out-03 ==> :kinstype-select\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "motion.tooloffset.z" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 motion.tooloffset.z ==> :tool-offset\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "joint.0.pos-fb" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.0.pos-fb ==> :table-x\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "joint.1.pos-fb" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.1.pos-fb ==> :saddle-y\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "joint.2.pos-fb" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.2.pos-fb ==> :spindle-z\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "joint.3.pos-fb" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.3.pos-fb ==> :tilt-b\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "joint.4.pos-fb" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.4.pos-fb ==> :rotate-c\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "xyzbc-trt-kins.tool-offset" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 28 float IN 0 xyzbc-trt-kins.tool-offset <== :tool-offset\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "xyzbc-trt-kins.x-offset" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 28 float IN -20 xyzbc-trt-kins.x-offset <== :x-offset\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "xyzbc-trt-kins.z-offset" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 28 float IN -15 xyzbc-trt-kins.z-offset <== :z-offset\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "xyzbc-trt-kins.x-rot-point" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 28 float IN 0 xyzbc-trt-kins.x-rot-point\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "xyzbc-trt-kins.y-rot-point" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 28 float IN 0 xyzbc-trt-kins.y-rot-point\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "xyzbc-trt-kins.z-rot-point" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 28 float IN 0 xyzbc-trt-kins.z-rot-point\n\n", "stderr": "" }, { "command": [ "halcmd", "show", "pin", "xyzbc-trt-kins.conventional-directions" ], "returncode": 0, "stdout": "Component Pins:\nOwner Type Dir Value Name\n 28 bit IN FALSE xyzbc-trt-kins.conventional-directions\n\n", "stderr": "" } ] }, "errors": [], "pathSampling": { "samplePeriodMs": 50, "timeBase": "program-relative-ms", "resampling": "linear-position-slerp-or-axis-linear", "coordinateSystem": "machine-xyzbc-and-tcp" }, "previewPath": { "source": "linuxcnc-native-axis-preview-expanded-ngcgui-subroutines", "samplePeriodMs": 50, "status": "ok", "unavailableReason": null, "program": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "subroutines": [ "xyzbc_switchkins_sub.ngc", "helix_bc.ngc" ], "sampleCount": 1300, "samples": [ { "sampleIndex": 0, "timeMs": 0, "line": 16, "motionType": "rapid", "activeKinematics": "identity", "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "joint": { "x": 0.0, "y": 0.0, "z": 10.0, "b": 0.0, "c": 0.0 }, "tcp": { "x": 0.0, "y": 0.0, "z": 10.0 }, "toolAxis": { "i": 0.0, "j": 0.0, "k": 1.0 }, "feed": 2100.0, "spindle": 0, "machineState": { "spindle": { "speedRpm": 0.0, "direction": "stopped", "enabled": false }, "feed": { "programmedMmPerMin": 2100.0, "actualMmPerMin": 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"/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop" }, "ini": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "startup": { "autostartRequested": true, "startedByCollector": false, "logPath": "/tmp/xyzbc-trt-native-evidence-linuxcnc.log" }, "environmentSnapshot": { "LINUXCNC_HOME": null, "LINUXCNC_INI": null, "DISPLAY": ":1", "PATH": "/home/mes123456/cnc_wams/linuxcnc/bin:/home/mes123456/cnc_wams/linuxcnc/scripts:/home/mes123456/cnc_wams/linuxcnc/tcl:/home/mes123456/.local/bin:/usr/local/bin:/usr/bin:/bin:/usr/local/games:/usr/games", "PYTHONPATH": "/home/mes123456/cnc_wams/linuxcnc/lib/python" }, "processes": [ "mes1234+ 10220 1852 0 18:06 ? 00:00:00 linuxcncsvr -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "mes1234+ 10231 1852 0 18:06 ? 00:00:23 milltask -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "mes1234+ 10233 1852 0 18:06 ? 00:00:10 halui -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "mes1234+ 10270 1852 2 18:06 ? 00:01:14 /usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui", "mes1234+ 10394 1852 5 18:06 ? 00:02:52 /usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/axis -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "mes1234+ 18832 3067 21 18:56 ? 00:00:00 python3 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90", "mes1234+ 18840 18823 0 18:56 ? 00:00:00 sh -c node ../tools/collect-web-xyzbc-trt-evidence.mjs", "mes1234+ 18841 18840 99 18:56 ? 00:00:00 node ../tools/collect-web-xyzbc-trt-evidence.mjs" ], "semanticBoundary": "native_launch_entrypoints_environment_process_snapshot" }, "iniFull": { "apiName": "xyzbc-trt-linuxcnc-ini-full", "ready": true, "path": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "sectionCount": 21, "keyCount": 124, "sections": [ { "name": "APPLICATIONS", "keys": [], "keyCount": 0 }, { "name": "EMC", "keys": [ { "key": "VERSION", "value": "1.1" }, { "key": "MACHINE", "value": "sim-xyzbc-trt-kins (switchkins)" } ], "keyCount": 2 }, { "name": "DISPLAY", "keys": [ { "key": "GEOMETRY", "value": "XYZB" }, { "key": "OPEN_FILE", "value": "./demos/xyzbc_switchkins.ngc" }, { "key": "PYVCP", "value": "./xyzbc-trt.xml" }, { "key": "JOG_AXES", "value": "XYZC" }, { "key": "DISPLAY", "value": "axis" }, { "key": "MAX_ANGULAR_VELOCITY", "value": "360" }, { "key": "MAX_LINEAR_VELOCITY", "value": "1000" }, { "key": "POSITION_OFFSET", "value": "RELATIVE" }, { "key": "POSITION_FEEDBACK", "value": "ACTUAL" }, { "key": "MAX_FEED_OVERRIDE", "value": "2" }, { "key": "PROGRAM_PREFIX", "value": "../../nc_files" }, { "key": "INTRO_GRAPHIC", "value": "emc2.gif" }, { "key": "INTRO_TIME", "value": "1" }, { "key": "TOOL_EDITOR", "value": "tooledit z diam" }, { "key": "TKPKG", "value": "Ngcgui 1.0" }, { "key": "NGCGUI_FONT", "value": "Helvetica -12 normal" }, { "key": "NGCGUI_SUBFILE", "value": "xyzbc_switchkins_sub.ngc" }, { "key": "NGCGUI_SUBFILE", "value": "centering.ngc" } ], "keyCount": 18 }, { "name": "RS274NGC", "keys": [ { "key": "SUBROUTINE_PATH", "value": "./remap_subs" }, { "key": "HAL_PIN_VARS", "value": "1" }, { "key": "REMAP", "value": "M428 modalgroup=10 ngc=428remap" }, { "key": "REMAP", "value": "M429 modalgroup=10 ngc=429remap" }, { "key": "REMAP", "value": "M430 modalgroup=10 ngc=430remap" }, { "key": "PARAMETER_FILE", "value": "xyzbc.var" } ], "keyCount": 6 }, { "name": "KINS", "keys": [ { "key": "KINEMATICS", "value": "xyzbc-trt-kins sparm=identityfirst" }, { "key": "JOINTS", "value": "5" } ], "keyCount": 2 }, { "name": "HAL", "keys": [ { "key": "HALUI", "value": "halui" }, { "key": "HALFILE", "value": "LIB:basic_sim.tcl" }, { "key": "POSTGUI_HALFILE", "value": "switchkins_postgui.hal" }, { "key": "HALCMD", "value": "net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type" }, { "key": "HALCMD", "value": "loadusr -W xyzbc-trt-gui" }, { "key": "HALCMD", "value": "net :table-x joint.0.pos-fb xyzbc-trt-gui.table-x" }, { "key": "HALCMD", "value": "net :saddle-y joint.1.pos-fb xyzbc-trt-gui.saddle-y" }, { "key": "HALCMD", "value": "net :spindle-z joint.2.pos-fb xyzbc-trt-gui.spindle-z" }, { "key": "HALCMD", "value": "net :tilt-b joint.3.pos-fb xyzbc-trt-gui.tilt-b" }, { "key": "HALCMD", "value": "net :rotate-c joint.4.pos-fb xyzbc-trt-gui.rotate-c" }, { "key": "HALCMD", "value": "net :tool-offset motion.tooloffset.z" }, { "key": "HALCMD", "value": "net :tool-offset xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset" }, { "key": "HALCMD", "value": "net :x-offset xyzbc-trt-kins.x-offset xyzbc-trt-gui.x-offset" }, { "key": "HALCMD", "value": "net :z-offset xyzbc-trt-kins.z-offset xyzbc-trt-gui.z-offset" }, { "key": "HALCMD", "value": "sets :x-offset -20" }, { "key": "HALCMD", "value": "sets :z-offset -15" }, { "key": "HALCMD", "value": "setp xyzbc-trt-kins.x-rot-point 0" }, { "key": "HALCMD", "value": "setp xyzbc-trt-kins.y-rot-point 0" }, { "key": "HALCMD", "value": "setp xyzbc-trt-kins.z-rot-point 0" }, { "key": "HALCMD", "value": "setp xyzbc-trt-kins.conventional-directions 0" } ], "keyCount": 20 }, { "name": "HALUI", "keys": [ { "key": "MDI_COMMAND", "value": "M429" }, { "key": "MDI_COMMAND", "value": "M428" }, { "key": "MDI_COMMAND", "value": "M430" } ], "keyCount": 3 }, { "name": "TRAJ", "keys": [ { "key": "COORDINATES", "value": "XYZBC" }, { "key": "LINEAR_UNITS", "value": "mm" }, { "key": "ANGULAR_UNITS", "value": "deg" }, { "key": "DEFAULT_LINEAR_VELOCITY", "value": "20" }, { "key": "MAX_LINEAR_VELOCITY", "value": "35" }, { "key": "MAX_LINEAR_ACCELERATION", "value": "400" }, { "key": "DEFAULT_LINEAR_ACCELERATION", "value": "300" } ], "keyCount": 7 }, { "name": "EMCMOT", "keys": [ { "key": "EMCMOT", "value": "motmod" }, { "key": "SERVO_PERIOD", "value": "1000000" }, { "key": "COMM_TIMEOUT", "value": "1" } ], "keyCount": 3 }, { "name": "TASK", "keys": [ { "key": "TASK", "value": "milltask" }, { "key": "CYCLE_TIME", "value": "0.010" } ], "keyCount": 2 }, { "name": "EMCIO", "keys": [ { "key": "TOOL_TABLE", "value": "xyzbc-trt.tbl" } ], "keyCount": 1 }, { "name": "AXIS_X", "keys": [ { "key": "MIN_LIMIT", "value": "-200" }, { "key": "MAX_LIMIT", "value": "200" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 }, { "name": "AXIS_Y", "keys": [ { "key": "MIN_LIMIT", "value": "-100" }, { "key": "MAX_LIMIT", "value": "100" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 }, { "name": "AXIS_Z", "keys": [ { "key": "MIN_LIMIT", "value": "-120" }, { "key": "MAX_LIMIT", "value": "120" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 }, { "name": "AXIS_B", "keys": [ { "key": "MIN_LIMIT", "value": "-36000" }, { "key": "MAX_LIMIT", "value": "36000" }, { "key": "MAX_VELOCITY", "value": "30" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 }, { "name": "AXIS_C", "keys": [ { "key": "MIN_LIMIT", "value": "-36000" }, { "key": "MAX_LIMIT", "value": "36000" }, { "key": "MAX_VELOCITY", "value": "30" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 }, { "name": "JOINT_0", "keys": [ { "key": "TYPE", "value": "LINEAR" }, { "key": "HOME", "value": "0" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", "value": "300" }, { "key": "MIN_LIMIT", "value": "-200" }, { "key": "MAX_LIMIT", "value": "200" }, { "key": "HOME_SEARCH_VEL", "value": "0" }, { "key": "HOME_SEQUENCE", "value": "0" } ], "keyCount": 8 }, { "name": "JOINT_1", "keys": [ { "key": "TYPE", "value": "LINEAR" }, { "key": "HOME", "value": "0" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", "value": "300" }, { "key": "MIN_LIMIT", "value": "-100" }, { "key": "MAX_LIMIT", "value": "100" }, { "key": "HOME_SEARCH_VEL", "value": "0" }, { "key": "HOME_SEQUENCE", "value": "0" } ], "keyCount": 8 }, { "name": "JOINT_2", "keys": [ { "key": "TYPE", "value": "LINEAR" }, { "key": "HOME", "value": "0" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", "value": "300" }, { "key": "MIN_LIMIT", "value": "-120" }, { "key": "MAX_LIMIT", "value": "120" }, { "key": "HOME_SEARCH_VEL", "value": "0" }, { "key": "HOME_SEQUENCE", "value": "0" } ], "keyCount": 8 }, { "name": "JOINT_3", "keys": [ { "key": "TYPE", "value": "ANGULAR" }, { "key": "HOME", "value": "0" }, { "key": "MAX_VELOCITY", "value": "30" }, { "key": "MAX_ACCELERATION", "value": "300" }, { "key": "MIN_LIMIT", "value": "-100" }, { "key": "MAX_LIMIT", "value": "50" }, { "key": "HOME_SEARCH_VEL", "value": "0" }, { "key": "HOME_SEQUENCE", "value": "0" } ], "keyCount": 8 }, { "name": "JOINT_4", "keys": [ { "key": "TYPE", "value": "ANGULAR" }, { "key": "HOME", "value": "0" }, { "key": "MAX_VELOCITY", "value": "30" }, { "key": "MAX_ACCELERATION", "value": "300" }, { "key": "MIN_LIMIT", "value": "-36000" }, { "key": "MAX_LIMIT", "value": "36000" }, { "key": "HOME_SEARCH_VEL", "value": "0" }, { "key": "HOME_SEQUENCE", "value": "0" } ], "keyCount": 8 } ], "sectionNames": [ "APPLICATIONS", "EMC", "DISPLAY", "RS274NGC", "KINS", "HAL", "HALUI", "TRAJ", "EMCMOT", "TASK", "EMCIO", "AXIS_X", "AXIS_Y", "AXIS_Z", "AXIS_B", "AXIS_C", "JOINT_0", "JOINT_1", "JOINT_2", "JOINT_3", "JOINT_4" ], "sourceSha256": "aed7a08171332c8300bb572a4f1ccffbb29f66d06956cb4cd79777b30adc16c1", "semanticBoundary": "all_ini_sections_and_keys_from_native_xyzbc_trt_ini" }, "halGraph": { "apiName": "xyzbc-trt-hal-source-runtime-graph", "ready": true, "iniHalFiles": [ "LIB:basic_sim.tcl", "switchkins_postgui.hal" ], "sourceFiles": [ { "path": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", "exists": true, "sha256": "55e969c22ca9054a818dbedc8ec50bed768d9ab3d8c4bfdfcfc78e912e9271c4", "commands": [ { "line": 4, "verb": "net", "text": "net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0" }, { "line": 5, "verb": "net", "text": "net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1" }, { "line": 6, "verb": "net", "text": "net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2" }, { "line": 8, "verb": "net", "text": "net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear" }, { "line": 10, "verb": "net", "text": "net :type0-button <= pyvcp.type0-button => halui.mdi-command-00" }, { "line": 11, "verb": "net", "text": "net :type1-button <= pyvcp.type1-button => halui.mdi-command-01" }, { "line": 12, "verb": "net", "text": "net :type2-button <= pyvcp.type2-button => halui.mdi-command-02" } ] }, { "path": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal", "exists": true, "sha256": "762ab7234e5f89ba04596ef97aea471a6e3b4f2decf10a66b958502fa7612059", "commands": [ { "line": 30, "verb": "loadusr", "text": "loadusr -W hal_manualtoolchange" }, { "line": 35, "verb": "loadrt", "text": "loadrt xyzbc-trt-kins sparm=identityfirst" }, { "line": 36, "verb": "loadrt", "text": "loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5" }, { "line": 38, "verb": "loadrt", "text": "loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid" }, { "line": 39, "verb": "loadrt", "text": "loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux" }, { "line": 40, "verb": "loadrt", "text": "loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel" }, { "line": 41, "verb": "loadrt", "text": "loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch" }, { "line": 42, "verb": "loadrt", "text": "loadrt sim_spindle names=sim_spindle" }, { "line": 43, "verb": "loadrt", "text": "loadrt limit2 names=limit_speed" }, { "line": 44, "verb": "loadrt", "text": "loadrt lowpass names=spindle_mass" }, { "line": 45, "verb": "loadrt", "text": "loadrt near names=near_speed" }, { "line": 46, "verb": "loadrt", "text": "loadrt scale names=rpm_rps" }, { "line": 51, "verb": "net", "text": "net J0:acc J0_accel.out" }, { "line": 52, "verb": "net", "text": "net J0:enable joint.0.amp-enable-out => J0_pid.enable" }, { "line": 53, "verb": "net", "text": "net J0:homesw J0_switch.home-sw => joint.0.home-sw-in" }, { "line": 54, "verb": "net", "text": "net J0:on-pos J0_pid.output => J0_mux.in1" }, { "line": 55, "verb": "net", "text": "net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command" }, { "line": 56, "verb": "net", "text": "net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb" }, { "line": 57, "verb": "net", "text": "net J0:vel J0_vel.out => J0_accel.in" }, { "line": 58, "verb": "net", "text": "net J1:acc J1_accel.out" }, { "line": 59, "verb": "net", "text": "net J1:enable joint.1.amp-enable-out => J1_pid.enable" }, { "line": 60, "verb": "net", "text": "net J1:homesw J1_switch.home-sw => joint.1.home-sw-in" }, { "line": 61, "verb": "net", "text": "net J1:on-pos J1_pid.output => J1_mux.in1" }, { "line": 62, "verb": "net", "text": "net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command" }, { "line": 63, "verb": "net", "text": "net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb" }, { "line": 64, "verb": "net", "text": "net J1:vel J1_vel.out => J1_accel.in" }, { "line": 65, "verb": "net", "text": "net J2:acc J2_accel.out" }, { "line": 66, "verb": "net", "text": "net J2:enable joint.2.amp-enable-out => J2_pid.enable" }, { "line": 67, "verb": "net", "text": "net J2:homesw J2_switch.home-sw => joint.2.home-sw-in" }, { "line": 68, "verb": "net", "text": "net J2:on-pos J2_pid.output => J2_mux.in1" }, { "line": 69, "verb": "net", "text": "net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command" }, { "line": 70, "verb": "net", "text": "net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb" }, { "line": 71, "verb": "net", "text": "net J2:vel J2_vel.out => J2_accel.in" }, { "line": 72, "verb": "net", "text": "net J3:acc J3_accel.out" }, { "line": 73, "verb": "net", "text": "net J3:enable joint.3.amp-enable-out => J3_pid.enable" }, { "line": 74, "verb": "net", "text": "net J3:homesw J3_switch.home-sw => joint.3.home-sw-in" }, { "line": 75, "verb": "net", "text": "net J3:on-pos J3_pid.output => J3_mux.in1" }, { "line": 76, "verb": "net", "text": "net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command" }, { "line": 77, "verb": "net", "text": "net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb" }, { "line": 78, "verb": "net", "text": "net J3:vel J3_vel.out => J3_accel.in" }, { "line": 79, "verb": "net", "text": "net J4:acc J4_accel.out" }, { "line": 80, "verb": "net", "text": "net J4:enable joint.4.amp-enable-out => J4_pid.enable" }, { "line": 81, "verb": "net", "text": "net J4:homesw J4_switch.home-sw => joint.4.home-sw-in" }, { "line": 82, "verb": "net", "text": "net J4:on-pos J4_pid.output => J4_mux.in1" }, { "line": 83, "verb": "net", "text": "net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command" }, { "line": 84, "verb": "net", "text": "net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb" }, { "line": 85, "verb": "net", "text": "net J4:vel J4_vel.out => J4_accel.in" }, { "line": 86, "verb": "net", "text": "net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in" }, { "line": 87, "verb": "net", "text": "net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel" }, { "line": 88, "verb": "net", "text": "net spindle-at-speed near_speed.out => spindle.0.at-speed" }, { "line": 89, "verb": "net", "text": "net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable" }, { "line": 90, "verb": "net", "text": "net spindle-orient spindle.0.orient => spindle.0.is-oriented" }, { "line": 91, "verb": "net", "text": "net spindle-pos sim_spindle.position-fb => spindle.0.revs" }, { "line": 92, "verb": "net", "text": "net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in" }, { "line": 93, "verb": "net", "text": "net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in" }, { "line": 94, "verb": "net", "text": "net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1" }, { "line": 95, "verb": "net", "text": "net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in" }, { "line": 96, "verb": "net", "text": "net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change" }, { "line": 97, "verb": "net", "text": "net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed" }, { "line": 98, "verb": "net", "text": "net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared" }, { "line": 99, "verb": "net", "text": "net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number" }, { "line": 101, "verb": "setp", "text": "setp J0_accel.tmax 0" }, { "line": 102, "verb": "setp", "text": "setp J0_mux.tmax 0" }, { "line": 103, "verb": "setp", "text": "setp J0_pid.do-pid-calcs.tmax 0" }, { "line": 104, "verb": "setp", "text": "setp J0_switch.tmax 0" }, { "line": 105, "verb": "setp", "text": "setp J0_vel.tmax 0" }, { "line": 106, "verb": "setp", "text": "setp J1_accel.tmax 0" }, { "line": 107, "verb": "setp", "text": "setp J1_mux.tmax 0" }, { "line": 108, "verb": "setp", "text": "setp J1_pid.do-pid-calcs.tmax 0" }, { "line": 109, "verb": "setp", "text": "setp J1_switch.tmax 0" }, { "line": 110, "verb": "setp", "text": "setp J1_vel.tmax 0" }, { "line": 111, "verb": "setp", "text": "setp J2_accel.tmax 0" }, { "line": 112, "verb": "setp", "text": "setp J2_mux.tmax 0" }, { "line": 113, "verb": "setp", "text": "setp J2_pid.do-pid-calcs.tmax 0" }, { "line": 114, "verb": "setp", "text": "setp J2_switch.tmax 0" }, { "line": 115, "verb": "setp", "text": "setp J2_vel.tmax 0" }, { "line": 116, "verb": "setp", "text": "setp J3_accel.tmax 0" }, { "line": 117, "verb": "setp", "text": "setp J3_mux.tmax 0" }, { "line": 118, "verb": "setp", "text": "setp J3_pid.do-pid-calcs.tmax 0" }, { "line": 119, "verb": "setp", "text": "setp J3_switch.tmax 0" }, { "line": 120, "verb": "setp", "text": "setp J3_vel.tmax 0" }, { "line": 121, "verb": "setp", "text": "setp J4_accel.tmax 0" }, { "line": 122, "verb": "setp", "text": "setp J4_mux.tmax 0" }, { "line": 123, "verb": "setp", "text": "setp J4_pid.do-pid-calcs.tmax 0" }, { "line": 124, "verb": "setp", "text": "setp J4_switch.tmax 0" }, { "line": 125, "verb": "setp", "text": "setp J4_vel.tmax 0" }, { "line": 126, "verb": "setp", "text": "setp limit_speed.tmax 0" }, { "line": 127, "verb": "setp", "text": "setp motion-command-handler.tmax 0" }, { "line": 128, "verb": "setp", "text": "setp motion-controller.tmax 0" }, { "line": 129, "verb": "setp", "text": "setp near_speed.difference 10" }, { "line": 130, "verb": "setp", "text": "setp near_speed.scale 1.1" }, { "line": 131, "verb": "setp", "text": "setp near_speed.tmax 0" }, { "line": 132, "verb": "setp", "text": "setp rpm_rps.tmax 0" }, { "line": 133, "verb": "setp", "text": "setp servo-thread.tmax 0" }, { "line": 134, "verb": "setp", "text": "setp sim_spindle.scale 0.01666667" }, { "line": 135, "verb": "setp", "text": "setp sim_spindle.tmax 0" }, { "line": 136, "verb": "setp", "text": "setp spindle_mass.gain 0.07" }, { "line": 137, "verb": "setp", "text": "setp spindle_mass.tmax 0" }, { "line": 139, "verb": "addf", "text": "addf motion-command-handler servo-thread" }, { "line": 140, "verb": "addf", "text": "addf motion-controller servo-thread" }, { "line": 141, "verb": "addf", "text": "addf J0_pid.do-pid-calcs servo-thread" }, { "line": 142, "verb": "addf", "text": "addf J1_pid.do-pid-calcs servo-thread" }, { "line": 143, "verb": "addf", "text": "addf J2_pid.do-pid-calcs servo-thread" }, { "line": 144, "verb": "addf", "text": "addf J3_pid.do-pid-calcs servo-thread" }, { "line": 145, "verb": "addf", "text": "addf J4_pid.do-pid-calcs servo-thread" }, { "line": 146, "verb": "addf", "text": "addf J0_mux servo-thread" }, { "line": 147, "verb": "addf", "text": "addf J1_mux servo-thread" }, { "line": 148, "verb": "addf", "text": "addf J2_mux servo-thread" }, { "line": 149, "verb": "addf", "text": "addf J3_mux servo-thread" }, { "line": 150, "verb": "addf", "text": "addf J4_mux servo-thread" }, { "line": 151, "verb": "addf", "text": "addf J0_vel servo-thread" }, { "line": 152, "verb": "addf", "text": "addf J0_accel servo-thread" }, { "line": 153, "verb": "addf", "text": "addf J1_vel servo-thread" }, { "line": 154, "verb": "addf", "text": "addf J1_accel servo-thread" }, { "line": 155, "verb": "addf", "text": "addf J2_vel servo-thread" }, { "line": 156, "verb": "addf", "text": "addf J2_accel servo-thread" }, { "line": 157, "verb": "addf", "text": "addf J3_vel servo-thread" }, { "line": 158, "verb": "addf", "text": "addf J3_accel servo-thread" }, { "line": 159, "verb": "addf", "text": "addf J4_vel servo-thread" }, { "line": 160, "verb": "addf", "text": "addf J4_accel servo-thread" }, { "line": 161, "verb": "addf", "text": "addf J0_switch servo-thread" }, { "line": 162, "verb": "addf", "text": "addf J1_switch servo-thread" }, { "line": 163, "verb": "addf", "text": "addf J2_switch servo-thread" }, { "line": 164, "verb": "addf", "text": "addf J3_switch servo-thread" }, { "line": 165, "verb": "addf", "text": "addf J4_switch servo-thread" }, { "line": 166, "verb": "addf", "text": "addf limit_speed servo-thread" }, { "line": 167, "verb": "addf", "text": "addf spindle_mass servo-thread" }, { "line": 168, "verb": "addf", "text": "addf rpm_rps servo-thread" }, { "line": 169, "verb": "addf", "text": "addf near_speed servo-thread" }, { "line": 170, "verb": "addf", "text": "addf sim_spindle servo-thread" }, { "line": 173, "verb": "setp", "text": "setp J0_pid.FF0 1.0" }, { "line": 174, "verb": "setp", "text": "setp J0_pid.Pgain 0" }, { "line": 175, "verb": "setp", "text": "setp J0_pid.Dgain 0" }, { "line": 176, "verb": "setp", "text": "setp J0_pid.Igain 0" }, { "line": 177, "verb": "setp", "text": "setp J0_pid.FF1 0" }, { "line": 178, "verb": "setp", "text": "setp J0_pid.FF2 0" }, { "line": 179, "verb": "setp", "text": "setp J1_pid.FF0 1.0" }, { "line": 180, "verb": "setp", "text": "setp J1_pid.Pgain 0" }, { "line": 181, "verb": "setp", "text": "setp J1_pid.Dgain 0" }, { "line": 182, "verb": "setp", "text": "setp J1_pid.Igain 0" }, { "line": 183, "verb": "setp", "text": "setp J1_pid.FF1 0" }, { "line": 184, "verb": "setp", "text": "setp J1_pid.FF2 0" }, { "line": 185, "verb": "setp", "text": "setp J2_pid.FF0 1.0" }, { "line": 186, "verb": "setp", "text": "setp J2_pid.Pgain 0" }, { "line": 187, "verb": "setp", "text": "setp J2_pid.Dgain 0" }, { "line": 188, "verb": "setp", "text": "setp J2_pid.Igain 0" }, { "line": 189, "verb": "setp", "text": "setp J2_pid.FF1 0" }, { "line": 190, "verb": "setp", "text": "setp J2_pid.FF2 0" }, { "line": 191, "verb": "setp", "text": "setp J3_pid.FF0 1.0" }, { "line": 192, "verb": "setp", "text": "setp J3_pid.Pgain 0" }, { "line": 193, "verb": "setp", "text": "setp J3_pid.Dgain 0" }, { "line": 194, "verb": "setp", "text": "setp J3_pid.Igain 0" }, { "line": 195, "verb": "setp", "text": "setp J3_pid.FF1 0" }, { "line": 196, "verb": "setp", "text": "setp J3_pid.FF2 0" }, { "line": 197, "verb": "setp", "text": "setp J4_pid.FF0 1.0" }, { "line": 198, "verb": "setp", "text": "setp J4_pid.Pgain 0" }, { "line": 199, "verb": "setp", "text": "setp J4_pid.Dgain 0" }, { "line": 200, "verb": "setp", "text": "setp J4_pid.Igain 0" }, { "line": 201, "verb": "setp", "text": "setp J4_pid.FF1 0" }, { "line": 202, "verb": "setp", "text": "setp J4_pid.FF2 0" }, { "line": 203, "verb": "setp", "text": "setp sim_spindle.scale 0.01666667" }, { "line": 204, "verb": "setp", "text": "setp limit_speed.maxv 5000.0" }, { "line": 205, "verb": "setp", "text": "setp spindle_mass.gain .07" }, { "line": 206, "verb": "setp", "text": "setp near_speed.scale 1.1" }, { "line": 207, "verb": "setp", "text": "setp near_speed.difference 10" } ] } ], "commandCount": 172, "commands": [ { "line": 4, "verb": "net", "text": "net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0" }, { "line": 5, "verb": "net", "text": "net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1" }, { "line": 6, "verb": "net", "text": "net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2" }, { "line": 8, "verb": "net", "text": "net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear" }, { "line": 10, "verb": "net", "text": "net :type0-button <= pyvcp.type0-button => halui.mdi-command-00" }, { "line": 11, "verb": "net", "text": "net :type1-button <= pyvcp.type1-button => halui.mdi-command-01" }, { "line": 12, "verb": "net", "text": "net :type2-button <= pyvcp.type2-button => halui.mdi-command-02" }, { "line": 30, "verb": "loadusr", "text": "loadusr -W hal_manualtoolchange" }, { "line": 35, "verb": "loadrt", "text": "loadrt xyzbc-trt-kins sparm=identityfirst" }, { "line": 36, "verb": "loadrt", "text": "loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5" }, { "line": 38, "verb": "loadrt", "text": "loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid" }, { "line": 39, "verb": "loadrt", "text": "loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux" }, { "line": 40, "verb": "loadrt", "text": "loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel" }, { "line": 41, "verb": "loadrt", "text": "loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch" }, { "line": 42, "verb": "loadrt", "text": "loadrt sim_spindle names=sim_spindle" }, { "line": 43, "verb": "loadrt", "text": "loadrt limit2 names=limit_speed" }, { "line": 44, "verb": "loadrt", "text": "loadrt lowpass names=spindle_mass" }, { "line": 45, "verb": "loadrt", "text": "loadrt near names=near_speed" }, { "line": 46, "verb": "loadrt", "text": "loadrt scale names=rpm_rps" }, { "line": 51, "verb": "net", "text": "net J0:acc J0_accel.out" }, { "line": 52, "verb": "net", "text": "net J0:enable joint.0.amp-enable-out => J0_pid.enable" }, { "line": 53, "verb": "net", "text": "net J0:homesw J0_switch.home-sw => joint.0.home-sw-in" }, { "line": 54, "verb": "net", "text": "net J0:on-pos J0_pid.output => J0_mux.in1" }, { "line": 55, "verb": "net", "text": "net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command" }, { "line": 56, "verb": "net", "text": "net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb" }, { "line": 57, "verb": "net", "text": "net J0:vel J0_vel.out => J0_accel.in" }, { "line": 58, "verb": "net", "text": "net J1:acc J1_accel.out" }, { "line": 59, "verb": "net", "text": "net J1:enable joint.1.amp-enable-out => J1_pid.enable" }, { "line": 60, "verb": "net", "text": "net J1:homesw J1_switch.home-sw => joint.1.home-sw-in" }, { "line": 61, "verb": "net", "text": "net J1:on-pos J1_pid.output => J1_mux.in1" }, { "line": 62, "verb": "net", "text": "net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command" }, { "line": 63, "verb": "net", "text": "net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb" }, { "line": 64, "verb": "net", "text": "net J1:vel J1_vel.out => J1_accel.in" }, { "line": 65, "verb": "net", "text": "net J2:acc J2_accel.out" }, { "line": 66, "verb": "net", "text": "net J2:enable joint.2.amp-enable-out => J2_pid.enable" }, { "line": 67, "verb": "net", "text": "net J2:homesw J2_switch.home-sw => joint.2.home-sw-in" }, { "line": 68, "verb": "net", "text": "net J2:on-pos J2_pid.output => J2_mux.in1" }, { "line": 69, "verb": "net", "text": "net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command" }, { "line": 70, "verb": "net", "text": "net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb" }, { "line": 71, "verb": "net", "text": "net J2:vel J2_vel.out => J2_accel.in" }, { "line": 72, "verb": "net", "text": "net J3:acc J3_accel.out" }, { "line": 73, "verb": "net", "text": "net J3:enable joint.3.amp-enable-out => J3_pid.enable" }, { "line": 74, "verb": "net", "text": "net J3:homesw J3_switch.home-sw => joint.3.home-sw-in" }, { "line": 75, "verb": "net", "text": "net J3:on-pos J3_pid.output => J3_mux.in1" }, { "line": 76, "verb": "net", "text": "net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command" }, { "line": 77, "verb": "net", "text": "net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb" }, { "line": 78, "verb": "net", "text": "net J3:vel J3_vel.out => J3_accel.in" }, { "line": 79, "verb": "net", "text": "net J4:acc J4_accel.out" }, { "line": 80, "verb": "net", "text": "net J4:enable joint.4.amp-enable-out => J4_pid.enable" }, { "line": 81, "verb": "net", "text": "net J4:homesw J4_switch.home-sw => joint.4.home-sw-in" }, { "line": 82, "verb": "net", "text": "net J4:on-pos J4_pid.output => J4_mux.in1" }, { "line": 83, "verb": "net", "text": "net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command" }, { "line": 84, "verb": "net", "text": "net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb" }, { "line": 85, "verb": "net", "text": "net J4:vel J4_vel.out => J4_accel.in" }, { "line": 86, "verb": "net", "text": "net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in" }, { "line": 87, "verb": "net", "text": "net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel" }, { "line": 88, "verb": "net", "text": "net spindle-at-speed near_speed.out => spindle.0.at-speed" }, { "line": 89, "verb": "net", "text": "net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable" }, { "line": 90, "verb": "net", "text": "net spindle-orient spindle.0.orient => spindle.0.is-oriented" }, { "line": 91, "verb": "net", "text": "net spindle-pos sim_spindle.position-fb => spindle.0.revs" }, { "line": 92, "verb": "net", "text": "net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in" }, { "line": 93, "verb": "net", "text": "net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in" }, { "line": 94, "verb": "net", "text": "net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1" }, { "line": 95, "verb": "net", "text": "net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in" }, { "line": 96, "verb": "net", "text": "net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change" }, { "line": 97, "verb": "net", "text": "net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed" }, { "line": 98, "verb": "net", "text": "net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared" }, { "line": 99, "verb": "net", "text": "net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number" }, { "line": 101, "verb": "setp", "text": "setp J0_accel.tmax 0" }, { "line": 102, "verb": "setp", "text": "setp J0_mux.tmax 0" }, { "line": 103, "verb": "setp", "text": "setp J0_pid.do-pid-calcs.tmax 0" }, { "line": 104, "verb": "setp", "text": "setp J0_switch.tmax 0" }, { "line": 105, "verb": "setp", "text": "setp J0_vel.tmax 0" }, { "line": 106, "verb": "setp", "text": "setp J1_accel.tmax 0" }, { "line": 107, "verb": "setp", "text": "setp J1_mux.tmax 0" }, { "line": 108, "verb": "setp", "text": "setp J1_pid.do-pid-calcs.tmax 0" }, { "line": 109, "verb": "setp", "text": "setp J1_switch.tmax 0" }, { "line": 110, "verb": "setp", "text": "setp J1_vel.tmax 0" }, { "line": 111, "verb": "setp", "text": "setp J2_accel.tmax 0" }, { "line": 112, "verb": "setp", "text": "setp J2_mux.tmax 0" }, { "line": 113, "verb": "setp", "text": "setp J2_pid.do-pid-calcs.tmax 0" }, { "line": 114, "verb": "setp", "text": "setp J2_switch.tmax 0" }, { "line": 115, "verb": "setp", "text": "setp J2_vel.tmax 0" }, { "line": 116, "verb": "setp", "text": "setp J3_accel.tmax 0" }, { "line": 117, "verb": "setp", "text": "setp J3_mux.tmax 0" }, { "line": 118, "verb": "setp", "text": "setp J3_pid.do-pid-calcs.tmax 0" }, { "line": 119, "verb": "setp", "text": "setp J3_switch.tmax 0" }, { "line": 120, "verb": "setp", "text": "setp J3_vel.tmax 0" }, { "line": 121, "verb": "setp", "text": "setp J4_accel.tmax 0" }, { "line": 122, "verb": "setp", "text": "setp J4_mux.tmax 0" }, { "line": 123, "verb": "setp", "text": "setp J4_pid.do-pid-calcs.tmax 0" }, { "line": 124, "verb": "setp", "text": "setp J4_switch.tmax 0" }, { "line": 125, "verb": "setp", "text": "setp J4_vel.tmax 0" }, { "line": 126, "verb": "setp", "text": "setp limit_speed.tmax 0" }, { "line": 127, "verb": "setp", "text": "setp motion-command-handler.tmax 0" }, { "line": 128, "verb": "setp", "text": "setp motion-controller.tmax 0" }, { "line": 129, "verb": "setp", "text": "setp near_speed.difference 10" }, { "line": 130, "verb": "setp", "text": "setp near_speed.scale 1.1" }, { "line": 131, "verb": "setp", "text": "setp near_speed.tmax 0" }, { "line": 132, "verb": "setp", "text": "setp rpm_rps.tmax 0" }, { "line": 133, "verb": "setp", "text": "setp servo-thread.tmax 0" }, { "line": 134, "verb": "setp", "text": "setp sim_spindle.scale 0.01666667" }, { "line": 135, "verb": "setp", "text": "setp sim_spindle.tmax 0" }, { "line": 136, "verb": "setp", "text": "setp spindle_mass.gain 0.07" }, { "line": 137, "verb": "setp", "text": "setp spindle_mass.tmax 0" }, { "line": 139, "verb": "addf", "text": "addf motion-command-handler servo-thread" }, { "line": 140, "verb": "addf", "text": "addf motion-controller servo-thread" }, { "line": 141, "verb": "addf", "text": "addf J0_pid.do-pid-calcs servo-thread" }, { "line": 142, "verb": "addf", "text": "addf J1_pid.do-pid-calcs servo-thread" }, { "line": 143, "verb": "addf", "text": "addf J2_pid.do-pid-calcs servo-thread" }, { "line": 144, "verb": "addf", "text": "addf J3_pid.do-pid-calcs servo-thread" }, { "line": 145, "verb": "addf", "text": "addf J4_pid.do-pid-calcs servo-thread" }, { "line": 146, "verb": "addf", "text": "addf J0_mux servo-thread" }, { "line": 147, "verb": "addf", "text": "addf J1_mux servo-thread" }, { "line": 148, "verb": "addf", "text": "addf J2_mux servo-thread" }, { "line": 149, "verb": "addf", "text": "addf J3_mux servo-thread" }, { "line": 150, "verb": "addf", "text": "addf J4_mux servo-thread" }, { "line": 151, "verb": "addf", "text": "addf J0_vel servo-thread" }, { "line": 152, "verb": "addf", "text": "addf J0_accel servo-thread" }, { "line": 153, "verb": "addf", "text": "addf J1_vel servo-thread" }, { "line": 154, "verb": "addf", "text": "addf J1_accel servo-thread" }, { "line": 155, "verb": "addf", "text": "addf J2_vel servo-thread" }, { "line": 156, "verb": "addf", "text": "addf J2_accel servo-thread" }, { "line": 157, "verb": "addf", "text": "addf J3_vel servo-thread" }, { "line": 158, "verb": "addf", "text": "addf J3_accel servo-thread" }, { "line": 159, "verb": "addf", "text": "addf J4_vel servo-thread" }, { "line": 160, "verb": "addf", "text": "addf J4_accel servo-thread" }, { "line": 161, "verb": "addf", "text": "addf J0_switch servo-thread" }, { "line": 162, "verb": "addf", "text": "addf J1_switch servo-thread" }, { "line": 163, "verb": "addf", "text": "addf J2_switch servo-thread" }, { "line": 164, "verb": "addf", "text": "addf J3_switch servo-thread" }, { "line": 165, "verb": "addf", "text": "addf J4_switch servo-thread" }, { "line": 166, "verb": "addf", "text": "addf limit_speed servo-thread" }, { "line": 167, "verb": "addf", "text": "addf spindle_mass servo-thread" }, { "line": 168, "verb": "addf", "text": "addf rpm_rps servo-thread" }, { "line": 169, "verb": "addf", "text": "addf near_speed servo-thread" }, { "line": 170, "verb": "addf", "text": "addf sim_spindle servo-thread" }, { "line": 173, "verb": "setp", "text": "setp J0_pid.FF0 1.0" }, { "line": 174, "verb": "setp", "text": "setp J0_pid.Pgain 0" }, { "line": 175, "verb": "setp", "text": "setp J0_pid.Dgain 0" }, { "line": 176, "verb": "setp", "text": "setp J0_pid.Igain 0" }, { "line": 177, "verb": "setp", "text": "setp J0_pid.FF1 0" }, { "line": 178, "verb": "setp", "text": "setp J0_pid.FF2 0" }, { "line": 179, "verb": "setp", "text": "setp J1_pid.FF0 1.0" }, { "line": 180, "verb": "setp", "text": "setp J1_pid.Pgain 0" }, { "line": 181, "verb": "setp", "text": "setp J1_pid.Dgain 0" }, { "line": 182, "verb": "setp", "text": "setp J1_pid.Igain 0" }, { "line": 183, "verb": "setp", "text": "setp J1_pid.FF1 0" }, { "line": 184, "verb": "setp", "text": "setp J1_pid.FF2 0" }, { "line": 185, "verb": "setp", "text": "setp J2_pid.FF0 1.0" }, { "line": 186, "verb": "setp", "text": "setp J2_pid.Pgain 0" }, { "line": 187, "verb": "setp", "text": "setp J2_pid.Dgain 0" }, { "line": 188, "verb": "setp", "text": "setp J2_pid.Igain 0" }, { "line": 189, "verb": "setp", "text": "setp J2_pid.FF1 0" }, { "line": 190, "verb": "setp", "text": "setp J2_pid.FF2 0" }, { "line": 191, "verb": "setp", "text": "setp J3_pid.FF0 1.0" }, { "line": 192, "verb": "setp", "text": "setp J3_pid.Pgain 0" }, { "line": 193, "verb": "setp", "text": "setp J3_pid.Dgain 0" }, { "line": 194, "verb": "setp", "text": "setp J3_pid.Igain 0" }, { "line": 195, "verb": "setp", "text": "setp J3_pid.FF1 0" }, { "line": 196, "verb": "setp", "text": "setp J3_pid.FF2 0" }, { "line": 197, "verb": "setp", "text": "setp J4_pid.FF0 1.0" }, { "line": 198, "verb": "setp", "text": "setp J4_pid.Pgain 0" }, { "line": 199, "verb": "setp", "text": "setp J4_pid.Dgain 0" }, { "line": 200, "verb": "setp", "text": "setp J4_pid.Igain 0" }, { "line": 201, "verb": "setp", "text": "setp J4_pid.FF1 0" }, { "line": 202, "verb": "setp", "text": "setp J4_pid.FF2 0" }, { "line": 203, "verb": "setp", "text": "setp sim_spindle.scale 0.01666667" }, { "line": 204, "verb": "setp", "text": "setp limit_speed.maxv 5000.0" }, { "line": 205, "verb": "setp", "text": "setp spindle_mass.gain .07" }, { "line": 206, "verb": "setp", "text": "setp near_speed.scale 1.1" }, { "line": 207, "verb": "setp", "text": "setp near_speed.difference 10" } ], "runtimeObservedPins": [ "joint.0.pos-fb", "joint.1.pos-fb", "joint.2.pos-fb", "joint.3.pos-fb", "joint.4.pos-fb", "motion.analog-out-03", "motion.switchkins-type", "motion.tooloffset.z", "xyzbc-trt-kins.conventional-directions", "xyzbc-trt-kins.tool-offset", "xyzbc-trt-kins.x-offset", "xyzbc-trt-kins.x-rot-point", "xyzbc-trt-kins.y-rot-point", "xyzbc-trt-kins.z-offset", "xyzbc-trt-kins.z-rot-point" ], "runtimeRawCommandCount": 15, "semanticBoundary": "source_hal_files_plus_runtime_halcmd_pin_snapshot" }, "kinematicsFormula": { "ready": true, "sourceFiles": [ { "role": "kinematics-source", "description": "xyzbc-trt kinematics component", "sourceRel": "src/emc/kinematics/xyzbc-trt-kins.c", "absolutePath": "/home/mes123456/cnc_wams/linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c", "exists": true, "bytes": 1900, "mtime": "2026-07-02T03:30:09Z", "sha256": "f89d3589a5052c4849f75f401a1d08cf44a54031223b744e8fd7ed900704e9d7" }, { "role": "kinematics-source", "description": "TRT transform functions", "sourceRel": "src/emc/kinematics/trtfuncs.c", "absolutePath": "/home/mes123456/cnc_wams/linuxcnc/src/emc/kinematics/trtfuncs.c", "exists": true, "bytes": 14384, "mtime": "2026-07-02T03:30:09Z", "sha256": "315c38ae8ddff887f3cb6293fe75d9d5d8916cf3b9b9e3eaf867e946823f68a2" } ], "requiredTokenCoverage": { "xyzbcTrtKinematics": false, "kinsType": false, "switchkins": true, "TOOL_OFFSET": false }, "sampleValidation": { "sampleCount": 1300, "maxToolAxisAngleDeg": 0, "maxTcpErrorMm": 0 }, "semanticBoundary": "source_formula_references_plus_xyzbc_sample_validation" }, "remapSemantics": { "ready": true, "remaps": [ { "code": "M428", "targetKinematics": "tcp-xyzbc", "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", "sha256": "a0aee1d6b481a979849a17c0a23aa7524f52cbd875c92cbde3b73bf36f91d17b", "hasM68": true, "hasM66": true, "hasSwitchkinsPinCheck": true, "hasStopPath": true }, { "code": "M429", "targetKinematics": "identity", "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", "sha256": "160479860b84e55ace49ffceb9594285ee90c521ba5eef916ef47ac8a6b3349d", "hasM68": true, "hasM66": true, "hasSwitchkinsPinCheck": true, "hasStopPath": true }, { "code": "M430", "targetKinematics": "userk", "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", "sha256": "41090461a936a63432252d42f277c925f9aa5a0faf0497933910c3b051fcfe4f", "hasM68": true, "hasM66": true, "hasSwitchkinsPinCheck": true, "hasStopPath": true } ], "semanticBoundary": "m428_m429_m430_remap_semantics_source_checked" }, "pyvcpPostgui": { "ready": true, "xml": { "role": "pyvcp", "description": "switchkins panel XML", "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml", "absolutePath": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml", "exists": true, "bytes": 926, "mtime": "2026-07-02T03:30:08Z", "sha256": "c863dc78c6b5b066413193e4f994b81b1a876a3e7e4257f11814fb5160725dc4" }, "postguiHal": { "role": "postgui-hal", "description": "PyVCP to HALUI and Vismach nets", "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", "absolutePath": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", "exists": true, "bytes": 538, "mtime": "2026-07-02T03:30:08Z", "sha256": "55e969c22ca9054a818dbedc8ec50bed768d9ab3d8c4bfdfcfc78e912e9271c4" }, "widgets": [ { "tag": "multilabel", "halpin": null, "text": "[\"0:IDENTITY\", \"1: XYZBC \", \"2: USERK \"]\n (\"Helvetica\",16)\n \"black\"\n" }, { "tag": "button", "halpin": null, "text": "\"type0-button\"\n \"IDENTITY\"\n 3" }, { "tag": "button", "halpin": null, "text": "\"type1-button\"\n \"TCP:XYZBC\"\n 3" }, { "tag": "button", "halpin": null, "text": "\"type2-button\"\n \"userk\"\n 3" }, { "tag": "button", "halpin": null, "text": "\"vismach-clear\"\n \"vismach-clear\"\n 3" } ], "links": [ { "target": "halui.mdi-command-00", "present": true }, { "target": "halui.mdi-command-01", "present": true }, { "target": "halui.mdi-command-02", "present": true }, { "target": "vismach.plotclear", "present": true } ], "semanticBoundary": "pyvcp_xml_postgui_hal_full_chain" }, "axisUiSource": { "ready": true, "source": { "role": "axis-source", "description": "native AXIS UI script", "sourceRel": "src/emc/usr_intf/axis/scripts/axis.py", "absolutePath": "/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/axis/scripts/axis.py", "exists": true, "bytes": 160558, "mtime": "2026-07-02T03:30:09Z", "sha256": "bbc77f154ea4bbd65d7c379cb8c15779c2ea0602e8f2a146ab32dbb3a92c414d" }, "symbols": { "task_run": true, "task_stop": true, "task_pause": true, "send_mdi": true, "jog_plus": true, "touch_off": true, "set_view_z": true }, "semanticBoundary": "native_axis_py_ui_behavior_source_reference" }, "vismachStrict": { "ready": true, "source": { "role": "vismach-source", "description": "native Vismach model", "sourceRel": "src/hal/user_comps/vismach/xyzbc-trt-gui.py", "absolutePath": "/home/mes123456/cnc_wams/linuxcnc/src/hal/user_comps/vismach/xyzbc-trt-gui.py", "exists": true, "bytes": 5740, "mtime": "2026-07-02T03:30:09Z", "sha256": "c3f083599aec8a7dbe66892cf77dd0c2be112c624fbe1649f94b4b9c436d17ea" }, "pins": { "table-x": true, "saddle-y": true, "spindle-z": true, "tilt-b": true, "rotate-c": true, "tool-offset": true, "x-offset": true, "z-offset": true }, "capturePoints": [ "tool-offset", "tilt-b", "rotate-c" ], "semanticBoundary": "native_vismach_transform_tree_source_reference" }, "servoTaskTiming": { "ready": true, "servoPeriodNs": 1000000.0, "taskCycleTimeSeconds": 0.01, "samplePeriodMs": 50, "runtimeEventCount": 3, "runtimeSampleDeltasMs": [ 50.0, 51.0 ], "runtimeDeltaMinMs": 50.0, "runtimeDeltaMaxMs": 51.0, "semanticBoundary": "native_servo_task_timing_and_50ms_sampling_budget" }, "runtimeExecutionObserved": { "runtimeObserved": true, "runtimeSampled": true, "runtimeStatus": "completed", "runtimeEventCount": 3, "sourceDerivedFallback": "linuxcnc-native-source-execution-expanded-ngcgui-subroutines", "sourceDerivedSampleCount": 1300, "fields": [ "currentLine", "position", "jointActualPosition", "velocity", "feedrate", "spindle" ], "semanticBoundary": "runtime_observed_linuxcnc_stat_events_distinct_from_source_derived_expansion" }, "taskHalFullState": { "ready": true, "fields": { "estopPower": { "beforeTaskState": 4, "afterTaskState": 4 }, "mode": { "before": 1, "after": 1 }, "interpTask": { "before": 1, "after": 1, "runtimeFinal": 1 }, "jointPosition": { "0": 0.0, "1": 0.0, "2": 0.0, "3": 0.0, "4": 0.0 }, "spindle": [ { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": true, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, "orient_fault": 0 }, { "brake": 1, "direction": 0, "enabled": 0, "override_enabled": false, "speed": 0.0, "override": 1.0, "homed": false, "orient_state": 0, 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"MAX_LIMIT", "value": "100" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 }, { "name": "AXIS_Z", "keys": [ { "key": "MIN_LIMIT", "value": "-120" }, { "key": "MAX_LIMIT", "value": "120" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 }, { "name": "AXIS_B", "keys": [ { "key": "MIN_LIMIT", "value": "-36000" }, { "key": "MAX_LIMIT", "value": "36000" }, { "key": "MAX_VELOCITY", "value": "30" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 }, { "name": "AXIS_C", "keys": [ { "key": "MIN_LIMIT", "value": "-36000" }, { "key": "MAX_LIMIT", "value": "36000" }, { "key": "MAX_VELOCITY", "value": "30" }, { "key": "MAX_ACCELERATION", "value": "300" } ], "keyCount": 4 } ], "jointSections": [ { "name": "JOINT_0", "keys": [ { "key": "TYPE", "value": "LINEAR" }, { "key": "HOME", "value": "0" }, { "key": "MAX_VELOCITY", "value": "20" }, { "key": "MAX_ACCELERATION", 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