285 lines
25 KiB
XML
285 lines
25 KiB
XML
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<text x="2400" y="178" class="subtitle" text-anchor="middle">LinuxCNC: xyzbc-trt.ini / switchkins / Vismach / PyVCP / M428-M429-M430</text>
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<text x="478" y="784" class="box-small">[KINS] xyzbc-trt-kins sparm=identityfirst; [TRAJ]</text>
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<text x="3250.0" y="3319.0" class="arrow-label" text-anchor="middle">Q2</text>
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<text x="1960.0" y="3744" class="box-title" text-anchor="middle">motion.switchkins-type</text>
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<text x="1608" y="3794" class="box-small">float HAL input, 被截断为整数 type</text>
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<rect id="handle" x="2580" y="3700" width="820" height="170" rx="18" fill="#ffffff" stroke="#ba7a20" stroke-width="4"/>
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<text x="2990.0" y="3744" class="box-title" text-anchor="middle">handle_kinematicsSwitch()</text>
|
||
<text x="2608" y="3794" class="box-small">servo-thread 每周期检测并调用</text>
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||
<text x="2608" y="3828" class="box-small">kinematicsSwitch(type)</text>
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<rect x="120" y="4230" width="4560" height="1520" rx="36" fill="#eef9f8" stroke="#b8c7dc" stroke-width="4"/>
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<text x="154" y="4300" class="section-title">5. 运行时运动数据流与 Vismach 显示</text>
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<text x="500.0" y="4434" class="box-title" text-anchor="middle">G-code XYZBC</text>
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||
<text x="268" y="4484" class="box-small">程序指令</text>
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<text x="1180.0" y="4434" class="box-title" text-anchor="middle">interpreter</text>
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<text x="948" y="4484" class="box-small">RS274NGC</text>
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<rect id="task" x="1600" y="4390" width="520" height="150" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="1860.0" y="4434" class="box-title" text-anchor="middle">milltask</text>
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<text x="1628" y="4484" class="box-small">任务层</text>
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<rect id="tp" x="2280" y="4390" width="620" height="150" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="2590.0" y="4434" class="box-title" text-anchor="middle">trajectory planner</text>
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<text x="2308" y="4484" class="box-small">生成 carte_pos_cmd</text>
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<text x="3440.0" y="4434" class="box-title" text-anchor="middle">kinematicsInverse()</text>
|
||
<text x="3088" y="4484" class="box-small">按当前 type 分派</text>
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<rect id="joint" x="3980" y="4390" width="560" height="150" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="4260.0" y="4434" class="box-title" text-anchor="middle">joint targets</text>
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<text x="4008" y="4484" class="box-small">X/Y/Z/B/C joint 目标</text>
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<path d="M 1440 4465 L 1600 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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<path d="M 2120 4465 L 2280 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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<path d="M 2900 4465 L 3060 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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<path d="M 3820 4465 L 3980 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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<rect id="idinv" x="540" y="4840" width="760" height="150" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="920.0" y="4884" class="box-title" text-anchor="middle">type 0: identity</text>
|
||
<text x="568" y="4934" class="box-small">一一映射</text>
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<rect id="trtinv" x="1510" y="4840" width="1040" height="210" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="2030.0" y="4884" class="box-title" text-anchor="middle">type 1: xyzbcKinematicsInverse</text>
|
||
<text x="1538" y="4934" class="box-small">使用 B/C</text>
|
||
<text x="1538" y="4968" class="box-small">角度、x-offset=-20、z-offset=-15、tool-offset、旋转</text>
|
||
<text x="1538" y="5002" class="box-small">中心计算 joint</text>
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<rect id="userkinv" x="2760" y="4840" width="760" height="150" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="3140.0" y="4884" class="box-title" text-anchor="middle">type 2: userk</text>
|
||
<text x="2788" y="4934" class="box-small">模板示例</text>
|
||
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<path d="M 3440 4540 L 3440 4720 L 3140 4720 L 3140 4840" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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<rect id="fb" x="820" y="5260" width="1000" height="160" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="1320.0" y="5304" class="box-title" text-anchor="middle">仿真反馈闭环</text>
|
||
<text x="848" y="5354" class="box-small">joint.N.motor-pos-cmd -> pid/mux2 -></text>
|
||
<text x="848" y="5388" class="box-small">joint.N.motor-pos-fb</text>
|
||
<rect id="vis" x="2140" y="5260" width="1000" height="160" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="2640.0" y="5304" class="box-title" text-anchor="middle">Vismach</text>
|
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<text x="2168" y="5354" class="box-small">joint feedback 驱动 table/saddle/spindle/B/C 模型</text>
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<rect id="panel" x="3460" y="5260" width="780" height="160" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
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<text x="3850.0" y="5304" class="box-title" text-anchor="middle">PyVCP 状态</text>
|
||
<text x="3488" y="5354" class="box-small">kinstype.is-N 显示当前运动学</text>
|
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<path d="M 1820 5340 L 2140 5340" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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<text x="3415.0" y="4549.0" class="arrow-label" text-anchor="middle">kinstype.is-N</text>
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<text x="154" y="5930" class="section-title">6. 自动打开的演示 G-code 流程</text>
|
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<text x="580.0" y="6064" class="box-title" text-anchor="middle">xyzbc_switchkins.ngc</text>
|
||
<text x="278" y="6114" class="box-small">AXIS OPEN_FILE</text>
|
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<text x="1460.0" y="6064" class="box-title" text-anchor="middle">xyzbc_switchkins_sub</text>
|
||
<text x="1108" y="6114" class="box-small">四个象限重复</text>
|
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<text x="2320.0" y="6064" class="box-title" text-anchor="middle">M429 identity</text>
|
||
<text x="2038" y="6114" class="box-small">安全定位 / 重设 G54</text>
|
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<text x="3110.0" y="6064" class="box-title" text-anchor="middle">helix_bc</text>
|
||
<text x="2828" y="6114" class="box-small">准备螺旋插补</text>
|
||
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<text x="3940.0" y="6064" class="box-title" text-anchor="middle">M428 xyzbc TRT</text>
|
||
<text x="3618" y="6114" class="box-small">B/C 倾斜后加工</text>
|
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<path d="M 1840 6095 L 2010 6095" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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<text x="388" y="6426" class="note-title">演示循环</text>
|
||
<text x="388" y="6470" class="note-text">每个象限先 M429 切回 identity。</text>
|
||
<text x="388" y="6502" class="note-text">G53 回机床安全位置，G10 L20 P0 重设 G54。</text>
|
||
<text x="388" y="6534" class="note-text">移动到象限中心后调用 helix_bc。</text>
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<text x="2568" y="6426" class="note-title">helix_bc 核心</text>
|
||
<text x="2568" y="6470" class="note-text">M428 切换到 xyzbc TRT。</text>
|
||
<text x="2568" y="6502" class="note-text">G0 B#<b> C#<c> 设置转台角度。</text>
|
||
<text x="2568" y="6534" class="note-text">G2 I#<r> Z#<zmin> P#<n> 执行螺旋插补。</text>
|
||
<text x="2400" y="7080" class="legend" text-anchor="middle">输出文件: 项目分析/5axis-xyzbc-trt-sim高清流程图.png；源文件: 项目分析/5axis-xyzbc-trt-sim高清流程图.svg</text>
|
||
</svg>
|