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Wang Dequan
15
configs/sim/axis/anglejog/anglejog.halshow
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15
configs/sim/axis/anglejog/anglejog.halshow
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pin+anglejog.enable-in
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pin+anglejog.enable-out
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pin+anglejog.active
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pin+anglejog.scale-in
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pin+anglejog.current-scale
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pin+anglejog.current-scale-out
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pin+anglejog.angle-degrees-in
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pin+anglejog.current-angle-degrees
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pin+anglejog.counts-in
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pin+anglejog.coscounts
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pin+anglejog.sincounts
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pin+anglejog.cos-accel-fraction
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pin+anglejog.sin-accel-fraction
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pin+anglejog.current-mag
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pin+anglejog.current-vel
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80
configs/sim/axis/anglejog/anglejog.ini
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80
configs/sim/axis/anglejog/anglejog.ini
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[EMC]
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VERSION = 1.1
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MACHINE = LATHE-Anglejog
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[DISPLAY]
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OPEN_FILE = ''
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DISPLAY = axis
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PYVCP = anglejog.xml
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LATHE = 1
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CYCLE_TIME = 0.100
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 1.2
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MAX_SPINDLE_OVERRIDE = 1.0
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PROGRAM_PREFIX = .
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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[RS274NGC]
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PARAMETER_FILE = anglejog.var
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 1.0
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BASE_PERIOD = 100000
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SERVO_PERIOD = 1000000
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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[HAL]
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HALUI = halui
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HALFILE = LIB:basic_sim.tcl -no_sim_spindle -no_use_hal_manualtoolchange
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# all provisions for anglejog:
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POSTGUI_HALFILE = anglejog_postgui.hal
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[TRAJ]
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NO_FORCE_HOMING = 1
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COORDINATES = X Z
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 1.0
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DEFAULT_LINEAR_ACCELERATION = 10.0
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MAX_LINEAR_VELOCITY = 10.0
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MAX_LINEAR_ACCELERATION = 100.0
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[EMCIO]
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TOOL_TABLE = anglejog.tbl
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[KINS]
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KINEMATICS = trivkins coordinates=xz
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JOINTS = 2
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# Note: immediate joint homing
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[JOINT_0]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 10.0
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HOME_SEQUENCE = 0
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[JOINT_1]
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 10.0
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HOME_SEQUENCE = 0
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[AXIS_X]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 10.0
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[AXIS_Z]
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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MAX_VELOCITY = 1.0
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MAX_ACCELERATION = 10.0
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14
configs/sim/axis/anglejog/anglejog.txt
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14
configs/sim/axis/anglejog/anglejog.txt
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anglejog -- demonstrate jogging at an
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angle for a lathe (xz) configuration.
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Usage:
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1) F1 (Estop Off)
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2) F2 (Machine On)
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3) Ctrl-HOME (Home All)
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4) pyvcp panel: Set to Enable
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5) pyvcp panel: change MPG counts
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and note jogging at current angle
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6) pyvcp panel: Set to Disable
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7) pyvcp panel: alter Angle or Scale
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8) repeat from 4)
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203
configs/sim/axis/anglejog/anglejog.xml
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203
configs/sim/axis/anglejog/anglejog.xml
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<?xml version='1.0' encoding='UTF-8'?>
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<pyvcp>
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<vbox>
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<relief>"sunken"</relief>
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<bd>3</bd>
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<label>
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<text>"ANGLE JOG"</text>
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<anchor>"w"</anchor>
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</label>
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<label>
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<bg>"black"</bg>
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<fg>"gold"</fg>
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<font>"bold"</font>
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<text>"NOTE:\nDisable required to change\nScale or Angle"</text>
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</label>
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<hbox>
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<checkbutton>
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<halpin>"enable"</halpin>
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<text>""</text>
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<initval>0</initval>
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</checkbutton>
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<label>
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<anchor>"w"</anchor>
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<text>"Enable/Disable"</text>
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</label>
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</hbox>
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<hbox>
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<led>
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<halpin>"enabled"</halpin>
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<on_color>"light green"</on_color>
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<off_color>"#d9d9d9"</off_color>
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</led>
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<label>
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<text>" Enabled"</text>
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<anchor>"w"</anchor>
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</label>
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</hbox>
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<hbox>
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<led>
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<halpin>"active"</halpin>
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<on_color>"blue"</on_color>
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<off_color>"#d9d9d9"</off_color>
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</led>
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<label>
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<text>" active"</text>
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<anchor>"w"</anchor>
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</label>
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</hbox>
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<hbox>
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<spinbox>
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<halpin>"max-vel"</halpin>
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<width>10</width>
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<initval>1.0</initval>
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<resolution>.1</resolution>
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<format>"10.1f"</format>
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<font>"bold"</font>
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<param_pin>1</param_pin>
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</spinbox>
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<label>
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<anchor>"w"</anchor>
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<text>"Max vel"</text>
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<font>"bold"</font>
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</label>
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</hbox>
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<hbox>
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<spinbox>
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<halpin>"max-accel"</halpin>
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<width>10</width>
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<initval>10.0</initval>
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<resolution>.1</resolution>
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<format>"10.1f"</format>
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<font>"bold"</font>
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<param_pin>1</param_pin>
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</spinbox>
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<label>
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<anchor>"w"</anchor>
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<text>"Max accel"</text>
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<font>"bold"</font>
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</label>
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</hbox>
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<hbox>
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<spinbox>
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<halpin>"accel-fraction"</halpin>
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<width>10</width>
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<initval>1.0</initval>
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<resolution>.1</resolution>
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<format>"10.1f"</format>
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<font>"bold"</font>
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<param_pin>1</param_pin>
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</spinbox>
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<label>
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<anchor>"w"</anchor>
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<text>"Accel fraction"</text>
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<font>"bold"</font>
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</label>
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</hbox>
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<hbox>
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<spinbox>
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<halpin>"scale-in"</halpin>
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<width>10</width>
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<initval>0.001</initval>
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<resolution>0.001</resolution>
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<format>"10.4f"</format>
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<font>"bold"</font>
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<max_>0.1</max_>
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<min_>0.0001</min_>
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<param_pin>1</param_pin>
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</spinbox>
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<label>
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<anchor>"w"</anchor>
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<text>"Scale"</text>
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<font>"bold"</font>
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</label>
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</hbox>
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<hbox>
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<number>
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<halpin>"current-scale"</halpin>
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<format>"10.8f"</format>
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<width>"13"</width>
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<bg>"black"</bg>
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<fg>"cyan"</fg>
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</number>
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<label>
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<text>"current-scale"</text>
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<anchor>"w"</anchor>
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</label>
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</hbox>
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<hbox>
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<number>
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<halpin>"current-scale-out"</halpin>
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<format>"10.8f"</format>
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<width>"13"</width>
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<bg>"black"</bg>
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<fg>"cyan"</fg>
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</number>
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<label>
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<text>"current-scale-out"</text>
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<anchor>"w"</anchor>
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</label>
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</hbox>
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<hbox>
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<spinbox>
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<halpin>"angle-degrees"</halpin>
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<min_>-90.0</min_>
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<max_>90.0</max_>
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<width>10</width>
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<initval>30</initval>
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<resolution>5</resolution>
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<format>"10.1f"</format>
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<font>"bold"</font>
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<param_pin>1</param_pin>
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</spinbox>
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<label>
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<anchor>"w"</anchor>
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<text>"Angle"</text>
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<font>"bold"</font>
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</label>
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</hbox>
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<hbox>
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<number>
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<halpin>"current-angle-degrees"</halpin>
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<format>"10.3f"</format>
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<width>"13"</width>
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<bg>"black"</bg>
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<fg>"cyan"</fg>
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</number>
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<label>
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<text>"Current angle"</text>
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<anchor>"w"</anchor>
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</label>
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</hbox>
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<hbox>
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<scale>
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<width>"25"</width>
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<halpin>"mpg"</halpin>
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<param_pin>1</param_pin>
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<resolution>1</resolution>
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<orient>HORIZONTAL</orient>
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<initval>0</initval>
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<min_>-500</min_>
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<max_> 500</max_>
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</scale>
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<label>
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<text>"MPG counts"</text>
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<anchor>"w"</anchor>
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</label>
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</hbox>
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<vbox>
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<button>
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<halpin>"mpgreset"</halpin>
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<text>"MPG Reset"</text>
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<bd>4</bd>
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<justify>"center"</justify>
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</button>
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</vbox>
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</vbox>
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</pyvcp>
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90
configs/sim/axis/anglejog/anglejog_postgui.hal
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90
configs/sim/axis/anglejog/anglejog_postgui.hal
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@@ -0,0 +1,90 @@
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loadrt anglejog names=anglejog
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addf anglejog servo-thread
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#--------------------------------------------------------------
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# Connections TO anglejog component
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net :ajog_enable <= pyvcp.enable
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net :ajog_enable => anglejog.enable-in
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net :ajog_enable => pyvcp.enabled
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net :ajog_counts <= pyvcp.mpg-i
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net :ajog_counts => anglejog.counts-in
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net :ajog_accel-fraction-in <= pyvcp.accel-fraction
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net :ajog_accel-fraction-in => anglejog.accel-fraction-in
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net :ajog-angle-degrees <= pyvcp.angle-degrees
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net :ajog-angle-degrees => anglejog.angle-degrees-in
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net :ajog-scale-in <= pyvcp.scale-in
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net :ajog-scale-in => anglejog.scale-in
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net :ajog_max-vel <= pyvcp.max-vel
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net :ajog_max-vel => anglejog.max-vel
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net :ajog_max-accel <= pyvcp.max-accel
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net :ajog_max-accel => anglejog.max-accel
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#--------------------------------------------------------------
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# Connections FROM anglejog component
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net :ajog_enable-out <= anglejog.enable-out
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net :ajog_enable-out => axis.x.jog-enable
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net :ajog_enable-out => axis.z.jog-enable
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net :ajog_enable-out => joint.0.jog-enable
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net :ajog_enable-out => joint.1.jog-enable
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net :ajog_scale-out <= anglejog.current-scale-out
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net :ajog_scale-out => axis.x.jog-scale
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net :ajog_scale-out => axis.z.jog-scale
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net :ajog_scale-out => joint.0.jog-scale
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net :ajog_scale-out => joint.1.jog-scale
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net :ajog_scale-out => pyvcp.current-scale-out
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net :ajog_x <= anglejog.coscounts
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net :ajog_x => axis.x.jog-counts
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net :ajog_x => joint.0.jog-counts
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net :ajog_z <= anglejog.sincounts
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net :ajog_z => axis.z.jog-counts
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net :ajog_z => joint.1.jog-counts
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net :ajog_xfraction <= anglejog.cos-accel-fraction
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net :ajog_xfraction => axis.x.jog-accel-fraction
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net :ajog_xfraction => joint.0.jog-accel-fraction
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net :ajog_zfraction <= anglejog.sin-accel-fraction
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net :ajog_zfraction => axis.z.jog-accel-fraction
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net :ajog_zfraction => joint.1.jog-accel-fraction
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#--------------------------------------------------------------
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# panel info-only items from anglejog component:
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net :vcp_active <= anglejog.active
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net :vcp_active => pyvcp.active
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net :vcp-current-scale <= anglejog.current-scale
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net :vcp-current-scale => pyvcp.current-scale
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net :vcp_current-angle-degrees <= anglejog.current-angle-degrees
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net :vcp_current-angle-degrees => pyvcp.current-angle-degrees
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#--------------------------------------------------------------
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# MPG simulation items
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loadrt mux_generic config=ff2
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addf mux-gen.00 servo-thread
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# for reset, set >0 and < Scale widget resolution:
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setp mux-gen.00.in-float-00 .1
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net :vcp_scale-val <= mux-gen.00.out-float
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net :vcp_scale-val => pyvcp.scale.0.param_pin
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net :vcp_scale-reset <= pyvcp.mpgreset
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net :vcp_scale-reset => mux-gen.00.sel-bit-00
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#--------------------------------------------------------------
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# halshow
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loadusr halshow --noprefs --fformat %8.5f ./anglejog.halshow
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Reference in New Issue
Block a user