cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md

# xyzbc-trt 当前运行配置文件说明

本文档记录当前运行的 LinuxCNC RTCP/TCP 五轴示例：

`configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini`

它是一个 `XYZBC` table rotary/tilting 五轴仿真配置，使用 AXIS 主界面、PyVCP 面板、Vismach 三维机床模型，以及 `switchkins` 方式在不同运动学模式之间切换。

当前对标的 run-in-place 根目录：

```text
/home/mes123456/cnc_wams/linuxcnc
```

当前启动命令：

```bash
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc \
  /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
```

## 当前进程

当前目标配置运行时的关键进程如下：

```text
/bin/bash /home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
linuxcncsvr -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
/home/mes123456/cnc_wams/linuxcnc/bin/rtapi_app load tpmod
milltask -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
halui -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/hal_manualtoolchange
/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui
/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
```

当前目标配置的进程均来自 `/home/mes123456/cnc_wams/linuxcnc`，并使用 `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini`。

当前 LinuxCNC Python API 状态检查：

```text
file = ./demos/xyzbc_switchkins.ngc
axis_mask = 55
position = [0.0, 0.0, 0.0, 0.0, 0.0]
task_state = 1
interp_state = 1
```

## 启动入口

快捷方式：

```text
/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop
```

快捷方式执行命令：

```bash
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc \
  /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
```

`rip-environment` 负责设置 run-in-place 环境，包括 `PATH`、`LD_LIBRARY_PATH`、`PYTHONPATH`、`TCLLIBPATH` 等，使本地编译出来的 LinuxCNC 程序、库、Python 模块可被找到。

## 文件关系总览

主配置文件：

```text
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
```

它引用或触发以下文件：

```text
[DISPLAY] DISPLAY = axis
  -> bin/axis
  -> src/emc/usr_intf/axis/scripts/axis.py

[DISPLAY] PYVCP = ./xyzbc-trt.xml
  -> configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml

[DISPLAY] OPEN_FILE = ./demos/xyzbc_switchkins.ngc
  -> configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc

[HAL] HALFILE = LIB:basic_sim.tcl
  -> lib/hallib/basic_sim.tcl
  -> 运行后生成 configs/.../xyzbc-trt_cmds.hal

[HAL] POSTGUI_HALFILE = switchkins_postgui.hal
  -> configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal

[HAL] HALCMD = loadusr -W xyzbc-trt-gui
  -> bin/xyzbc-trt-gui
  -> src/hal/user_comps/vismach/xyzbc-trt-gui.py

[RS274NGC] SUBROUTINE_PATH = ./remap_subs
  -> remap_subs/428remap.ngc
  -> remap_subs/429remap.ngc
  -> remap_subs/430remap.ngc
  -> remap_subs/xyzbc_switchkins_sub.ngc
  -> remap_subs/centering.ngc
  -> remap_subs/helix_bc.ngc

[EMCIO] TOOL_TABLE = xyzbc-trt.tbl
  -> configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl

[RS274NGC] PARAMETER_FILE = xyzbc.var
  -> configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var
```

## 主 INI 文件

路径：

```text
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
```

关键内容：

```ini
[EMC]
VERSION = 1.1
MACHINE = sim-xyzbc-trt-kins (switchkins)

[DISPLAY]
            GEOMETRY = XYZB
           OPEN_FILE = ./demos/xyzbc_switchkins.ngc
               PYVCP = ./xyzbc-trt.xml
            JOG_AXES = XYZC
             DISPLAY = axis
MAX_ANGULAR_VELOCITY =  360
 MAX_LINEAR_VELOCITY = 1000
     POSITION_OFFSET = RELATIVE
   POSITION_FEEDBACK = ACTUAL
   MAX_FEED_OVERRIDE = 2
      PROGRAM_PREFIX = ../../nc_files
       INTRO_GRAPHIC = emc2.gif
          INTRO_TIME = 1
         TOOL_EDITOR = tooledit z diam

               TKPKG = Ngcgui 1.0
         NGCGUI_FONT = Helvetica -12 normal
      NGCGUI_SUBFILE = xyzbc_switchkins_sub.ngc
      NGCGUI_SUBFILE = centering.ngc

[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
   HAL_PIN_VARS = 1
          REMAP = M428  modalgroup=10  ngc=428remap
          REMAP = M429  modalgroup=10  ngc=429remap
          REMAP = M430  modalgroup=10  ngc=430remap
 PARAMETER_FILE = xyzbc.var

[KINS]
# default switchkins-type == 0 is xyzbc-trt-kins
# here switchkins-type == 0 is identity kins
KINEMATICS = xyzbc-trt-kins sparm=identityfirst
    JOINTS = 5

[HAL]
          HALUI = halui
        HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = switchkins_postgui.hal

# net for control of motion.switchkins-type
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type

# vismach xyzbc-trt-gui items
HALCMD = loadusr -W xyzbc-trt-gui
HALCMD = net  :table-x      joint.0.pos-fb             xyzbc-trt-gui.table-x
HALCMD = net  :saddle-y     joint.1.pos-fb             xyzbc-trt-gui.saddle-y
HALCMD = net  :spindle-z    joint.2.pos-fb             xyzbc-trt-gui.spindle-z
HALCMD = net  :tilt-b       joint.3.pos-fb             xyzbc-trt-gui.tilt-b
HALCMD = net  :rotate-c     joint.4.pos-fb             xyzbc-trt-gui.rotate-c
HALCMD = net  :tool-offset  motion.tooloffset.z
HALCMD = net  :tool-offset  xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset
HALCMD = net  :x-offset     xyzbc-trt-kins.x-offset    xyzbc-trt-gui.x-offset
HALCMD = net  :z-offset     xyzbc-trt-kins.z-offset    xyzbc-trt-gui.z-offset
HALCMD = sets :x-offset     -20
HALCMD = sets :z-offset     -15

HALCMD = setp xyzbc-trt-kins.x-rot-point 0
HALCMD = setp xyzbc-trt-kins.y-rot-point 0
HALCMD = setp xyzbc-trt-kins.z-rot-point 0
HALCMD = setp xyzbc-trt-kins.conventional-directions 0

[HALUI]
# kinstype==0 is identity kins because sparm=identityfirst
# M429: identity kins
# M428: xyzbc kins / TCP mode
# M430: userk kins
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430

[TRAJ]
                COORDINATES = XYZBC
               LINEAR_UNITS = mm
              ANGULAR_UNITS = deg
    DEFAULT_LINEAR_VELOCITY = 20
        MAX_LINEAR_VELOCITY = 35
    MAX_LINEAR_ACCELERATION = 400
DEFAULT_LINEAR_ACCELERATION = 300

[EMCMOT]
      EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT =       1

[TASK]
      TASK = milltask
CYCLE_TIME = 0.010

[EMCIO]
TOOL_TABLE = xyzbc-trt.tbl
```

轴和关节部分定义 `XYZBC` 五轴：

```ini
[AXIS_X] [AXIS_Y] [AXIS_Z]
  LINEAR axes, limits in mm.

[AXIS_B] [AXIS_C]
  ANGULAR axes, limits in degrees.

[JOINT_0] X linear
[JOINT_1] Y linear
[JOINT_2] Z linear
[JOINT_3] B angular, MIN_LIMIT=-100, MAX_LIMIT=50
[JOINT_4] C angular, MIN_LIMIT=-36000, MAX_LIMIT=36000
```

## PyVCP 界面文件

路径：

```text
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml
```

这个 XML 文件由 AXIS 读取 `[DISPLAY]PYVCP` 后加载，显示在 AXIS 窗口右侧。它提供：

- 当前运动学模式显示：`0:IDENTITY`、`1: XYZBC`、`2: USERK`
- 三个按钮：`IDENTITY`、`TCP:XYZBC`、`userk`
- 一个 `vismach-clear` 按钮，用于清除 Vismach 轨迹显示

完整内容：

```xml
<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>

  <vbox>
    <relief>"ridge"</relief>
    <bd>5</bd>
    <label>
      <text>"SWITCHKINS"</text>
      <relief>RIDGE</relief>
      <bd>3</bd>
    </label>
    <multilabel>
      <legends>["0:IDENTITY", "1: XYZBC  ", "2: USERK  "]</legends>
      <font>("Helvetica",16)</font>
      <bg>"black"</bg>
      <fg>"yellow"</fg>
    </multilabel>
    <button>
      <halpin>"type0-button"</halpin>
      <text>"IDENTITY"</text>
      <bd>3</bd>
    </button>
    <button>
      <halpin>"type1-button"</halpin>
      <text>"TCP:XYZBC"</text>
      <bd>3</bd>
    </button>
    <button>
      <halpin>"type2-button"</halpin>
      <text>"userk"</text>
      <bd>3</bd>
    </button>
  </vbox>

  <vbox>
    <relief>"ridge"</relief>
    <bd>5</bd>
    <button>
      <halpin>"vismach-clear"</halpin>
      <text>"vismach-clear"</text>
      <bd>3</bd>
    </button>
  </vbox>

</pyvcp>
```

## POSTGUI HAL 文件

路径：

```text
configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
```

这个文件在 AXIS/PyVCP 界面创建完成后加载，所以它可以连接 `pyvcp.*` 引脚。

完整内容：

```hal
# switchkins pyvcp connections for:
# xyzac-trt-kins.ini,xyzbc-trt-kins.ini

net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0
net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1
net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2

net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear

net :type0-button  <= pyvcp.type0-button  => halui.mdi-command-00
net :type1-button  <= pyvcp.type1-button  => halui.mdi-command-01
net :type2-button  <= pyvcp.type2-button  => halui.mdi-command-02
```

作用：

- `kinstype.is-*` 驱动 PyVCP 的 `multilabel`，显示当前 kinematics 类型。
- PyVCP 三个按钮连接到 `halui.mdi-command-00/01/02`。
- `[HALUI] MDI_COMMAND` 定义这三个命令分别执行 `M429`、`M428`、`M430`。
- `vismach-clear` 连接到 `vismach.plotclear`，清除 Vismach 显示轨迹。

## Vismach Python 界面文件

运行入口：

```text
/home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui
```

源码路径：

```text
src/hal/user_comps/vismach/xyzbc-trt-gui.py
```

该 Python 文件创建名为 `xyzbc-trt-gui` 的 HAL 用户组件，并建立 Vismach 三维机床模型。INI 中的以下 HALCMD 启动并连接它：

```hal
HALCMD = loadusr -W xyzbc-trt-gui
HALCMD = net  :table-x      joint.0.pos-fb             xyzbc-trt-gui.table-x
HALCMD = net  :saddle-y     joint.1.pos-fb             xyzbc-trt-gui.saddle-y
HALCMD = net  :spindle-z    joint.2.pos-fb             xyzbc-trt-gui.spindle-z
HALCMD = net  :tilt-b       joint.3.pos-fb             xyzbc-trt-gui.tilt-b
HALCMD = net  :rotate-c     joint.4.pos-fb             xyzbc-trt-gui.rotate-c
HALCMD = net  :tool-offset  xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset
HALCMD = net  :x-offset     xyzbc-trt-kins.x-offset    xyzbc-trt-gui.x-offset
HALCMD = net  :z-offset     xyzbc-trt-kins.z-offset    xyzbc-trt-gui.z-offset
```

### HAL 引脚

`xyzbc-trt-gui.py` 创建这些输入引脚：

```python
c = hal.component("xyzbc-trt-gui")
c.newpin("table-x", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("saddle-y", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("spindle-z", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("tilt-b", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("rotate-c", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("z-offset", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("x-offset", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("tool-offset", hal.HAL_FLOAT, hal.HAL_IN)
c.ready()
```

### 模型结构

该脚本使用 `vismach` 的 `Collection`、`Box`、`CylinderZ`、`HalTranslate`、`HalRotate` 等构造机床模型：

- `tool`: 刀具和刀尖捕获点，受 `tool-offset` 影响。
- `spindle`: 主轴和刀柄。
- `head`: 主轴头，受 `spindle-z` 影响。
- `ctable`: C 轴旋转台，受 `rotate-c` 影响。
- `arotary`: B 轴倾斜组件，受 `tilt-b` 影响。
- `table`: X 方向工作台，受 `table-x` 影响。
- `saddle`: Y 方向滑鞍，受 `saddle-y` 影响。
- `base`: 机床底座和立柱。

最终调用：

```python
model = Collection([yslide, base])

myhud = Hud()
myhud.show("XYZBC")

main(model, tooltip, work, size=500, hud=myhud, lat=-60, lon=25)
```

这会打开 Vismach 窗口，显示 `XYZBC` 五轴仿真模型。

## AXIS 主界面 Python 文件

运行入口：

```text
/home/mes123456/cnc_wams/linuxcnc/bin/axis
```

对应源码：

```text
src/emc/usr_intf/axis/scripts/axis.py
```

`bin/axis` 是构建后的可执行 Python 脚本，当前进程为：

```text
/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
```

这个文件很大，当前源码约 `4308` 行。与本配置直接相关的加载点如下。

读取 INI：

```python
if sys.argv[1] != "-ini":
    raise SystemExit("-ini must be first argument")

inifile = linuxcnc.ini(sys.argv[2])
```

读取 POSTGUI HAL、几何、坐标等配置：

```python
vars.emcini.set(sys.argv[2])
jointcount = inifile.getint("KINS", "JOINTS", fallback=0)
open_directory = inifile.getstring("DISPLAY", "PROGRAM_PREFIX", fallback=open_directory)
vars.machine.set(inifile.getstring("EMC", "MACHINE", fallback="<unknown>"))
postgui_halfile = inifile.findall("HAL", "POSTGUI_HALFILE") or None
postgui_halcmds = inifile.findall("HAL", "POSTGUI_HALCMD") or None
geometry = inifile.getstring("DISPLAY", "GEOMETRY", fallback="XYZABCUVW")
```

读取 PyVCP：

```python
vcp = inifile.find("DISPLAY", "PYVCP")
```

创建 PyVCP 面板：

```python
if vcp:
    import vcpparse
    f = Tkinter.Frame(root_window)
    if inifile.find("DISPLAY", "PYVCP_POSITION") == "BOTTOM":
        f.grid(row=4, column=0, columnspan=6, sticky="nw", padx=4, pady=4)
    else:
        f.grid(row=0, column=4, rowspan=6, sticky="nw", padx=4, pady=4)
    vcpparse.filename = vcp
    vcpcomp = hal.component("pyvcp")
    vcpparse.create_vcp(f, vcpcomp)
    vcpcomp.ready()
    vcp_frame = f
```

这些代码解释了为什么 `[DISPLAY]PYVCP = ./xyzbc-trt.xml` 会在 AXIS 中生成右侧的 `SWITCHKINS` 面板。

## 基础仿真 HAL/Tcl 文件

路径：

```text
lib/hallib/basic_sim.tcl
```

INI 中：

```ini
[HAL]
HALFILE = LIB:basic_sim.tcl
```

作用：

- 加载通用仿真组件。
- 根据 `[TRAJ]COORDINATES` 和 `[KINS]JOINTS` 创建基础运动仿真。
- 创建 `ddt`、模拟回零、手动换刀和模拟主轴。
- 运行后生成等效 HAL 文件：

```text
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal
```

关键逻辑：

```tcl
source [file join $::env(HALLIB_DIR) sim_lib.tcl]
set axes [get_traj_coordinates]
set number_of_joints $::KINS(JOINTS)

core_sim $axes \
         $number_of_joints \
         $::EMCMOT(SERVO_PERIOD) \
         $base_period \
         $::EMCMOT(EMCMOT)

make_ddts $number_of_joints
simulated_home $number_of_joints
use_hal_manualtoolchange
sim_spindle
save_hal_cmds $savefilename $save_options
```

## switchkins / RTCP 切换逻辑

本配置使用 `motion.switchkins-type` 选择不同运动学模式。

关键 HAL 连接：

```hal
net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
```

关键 MDI 命令：

```ini
[HALUI]
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430
```

三个 remap 子程序：

```text
remap_subs/429remap.ngc -> kinstype = 0 -> IDENTITY
remap_subs/428remap.ngc -> kinstype = 1 -> XYZBC / TCP
remap_subs/430remap.ngc -> kinstype = 2 -> USERK
```

`M428` 的核心逻辑：

```ngc
;M428 by remap: kinstype==1 (xyzac,xyzbc)
o<428remap>sub
  #<kinstype> = 1
  #<SWITCHKINS_PIN> = 3

   M68  E#<SWITCHKINS_PIN> Q#<kinstype>
   M66  E0 L0

o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
     (debug,M428: Wrong motion.switchkins-type)
     (debug,or missing hal net to analog-out-0x)
     (debug,STOP)
     M2
o2 else
o2 endif

o<428remap>endsub
```

`M429` 类似，但设置 `kinstype = 0`；`M430` 设置 `kinstype = 2`。

## 演示 G-code

启动时自动打开：

```text
configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc
```

内容：

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

它调用：

```text
remap_subs/xyzbc_switchkins_sub.ngc
```

该子程序会在四个象限中：

- 先用 `M429` 切到 Identity kinematics。
- 设置机器坐标和 G54。
- 调用 `helix_bc`，用 B/C 角度演示 TCP/五轴联动轨迹。
- 最后回到 Identity kinematics。

## 工具表

路径：

```text
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl
```

内容：

```text
T1 P1 D1
T2 P2 Z10 D8
```

工具表会影响 `motion.tooloffset.z`，并通过 HAL 连接到：

```hal
xyzbc-trt-kins.tool-offset
xyzbc-trt-gui.tool-offset
```

所以工具长度会同时影响运动学计算和 Vismach 显示。

## 运动学组件

运行时加载：

```text
rtlib/xyzbc-trt-kins.so
```

源码：

```text
src/emc/kinematics/xyzbc-trt-kins.c
```

相关说明文件：

```text
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt
```

说明文件中的核心语义：

```text
M429: Identity Kinematics
M428: XYZBC (TCP)
M430: userk Kinematics

net :kinstype-select <= motion.analog-out-03
net :kinstype-select => motion.switchkins-type
```

`xyzbc-trt-kins` 提供这些和配置相关的 HAL 输入：

```text
xyzbc-trt-kins.x-offset
xyzbc-trt-kins.z-offset
xyzbc-trt-kins.x-rot-point
xyzbc-trt-kins.y-rot-point
xyzbc-trt-kins.z-rot-point
xyzbc-trt-kins.conventional-directions
xyzbc-trt-kins.tool-offset
```

## 加载顺序

简化后的启动流程：

1. `.desktop` 执行 `rip-environment linuxcnc xyzbc-trt.ini`。
2. `scripts/linuxcnc` 读取 INI，启动 `linuxcncsvr`、`rtapi_app`、`milltask`、`halui`。
3. `[HAL] HALFILE = LIB:basic_sim.tcl` 加载基础仿真 HAL。
4. `[KINS] KINEMATICS = xyzbc-trt-kins sparm=identityfirst` 加载运动学组件。
5. `[HAL] HALCMD = loadusr -W xyzbc-trt-gui` 启动 Vismach Python 模型。
6. `[DISPLAY] DISPLAY = axis` 启动 AXIS。
7. AXIS 读取 `[DISPLAY] PYVCP = ./xyzbc-trt.xml`，创建 PyVCP 面板。
8. AXIS 界面创建后加载 `POSTGUI_HALFILE = switchkins_postgui.hal`，连接 PyVCP 引脚和 HALUI MDI 命令。
9. `[DISPLAY] OPEN_FILE = ./demos/xyzbc_switchkins.ngc` 自动载入演示 G-code。

## 重要文件清单

```text
主配置:
  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini

AXIS 主界面:
  bin/axis
  src/emc/usr_intf/axis/scripts/axis.py

PyVCP 面板:
  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml

POSTGUI HAL:
  configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal

Vismach Python 机床模型:
  bin/xyzbc-trt-gui
  src/hal/user_comps/vismach/xyzbc-trt-gui.py

基础仿真 HAL/Tcl:
  lib/hallib/basic_sim.tcl

运行后生成的等效 HAL:
  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal

运动学组件:
  rtlib/xyzbc-trt-kins.so
  src/emc/kinematics/xyzbc-trt-kins.c

remap 子程序:
  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc
  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc
  configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc

演示程序:
  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc
  configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc

工具表和参数:
  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl
  configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var
```