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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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5
configs/sim/axis/external_offsets/M111 Executable file
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#!/bin/bash
halcmd setp axisui.notifications-clear-info 1
sleep .1
halcmd setp axisui.notifications-clear-info 0
exit 0

4
configs/sim/axis/external_offsets/README Normal file
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eoffset_demo.ini ----- Basic demo (XYZ)
jwp_z.ini ------------ Jog while paused (Z) demo
dynamic_offsets.ini -- Z offset waveforms demo
opa.ini -------------- Offset per Angle (XZC) demo

43
configs/sim/axis/external_offsets/circles.ngc Normal file
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(info: Multiple circles at radius R, use 0 for current val)
;Notes:
; 1) z axis not altered (remains at current z)
; 2) for inside polygon cutting (fnum==0):
; start with rfraction negative
; and gradually increase rfraction to zero as program runs
; multiple circles
; 3) for outside polygon cutting (fnum==1):
; start with rfraction positive
; and gradually decrease to zero as program runs multiple
; circles
;
; Alternate method for polygons:
; 1) use #<radius>=0 and jog to safe starting position
; 2) use #<revs>=1, run program for one revolution
; 3) Run program repeatedly and manually jog x (radius)
; before each program start to increase/decrease
; current radius for inside/outside polygon respectively
o<circles> sub
#<radius> = #1 (= 1 R 0==>current)
#<aspeed> = #2 (= 8 aspeed: RPM)
#<lspeed> = #3 (= 10 lspeed: units/sec)
#<revs> = #4 (= 1 +/- Revolutions)
#<c> = #<_c> ;starting value
#<ctarget> = [#<c> + #<revs> * 360]
#<arate> = [#<aspeed> * 360]
m111 ;clear prior info messages
o<if1> if [#<radius> EQ 0]
#<ref_radius> = #<_x> ;use current x
o<if1> else
#<ref_radius> = #<radius>
f#<lspeed> g1 x#<ref_radius>
o<if1> endif
(debug, ref_radius=#<ref_radius>)
m68 e0 q#<ref_radius> ; set ref_radius for eoffsets
f#<arate> g1 c#<ctarget> ; circles at arate
o<circles> endsub

33
configs/sim/axis/external_offsets/dyn_demo.ngc Normal file
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#<xmax> = 9
#<ymax> = 4
#<zmax> = 3
#<rct> = 100
#<feed> = 100
#<x1> = #<xmax>
#<y1> = 0
#<z1> = [#<zmax> * 0.5]
#<x2> = #<xmax>
#<y2> = #<ymax>
#<z2> = 0
#<x3> = 0
#<y3> = #<ymax>
#<z3> = #<zmax>
m111 ;clear notifications
g61
g0 x0 y0 z0
o<rpt> repeat [#<rct>]
f #<feed>
g0 x 0 y 0 z 0
g1 x #<x1> y #<y1> z #<z1>
g1 x #<x2> y #<y2> z #<z2>
g1 x #<x3> y #<y3> z #<z3>
g1 x 0 y 0 z 0
o<rpt> endrepeat
m111 ;clear notifications
m2

27
configs/sim/axis/external_offsets/dynamic_offsets.halscope Normal file
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THREAD servo-thread
MAXCHAN 8
HMULT 4
HZOOM 1
HPOS 5.186916e-01
CHAN 1
SIG E:z-offset
VSCALE -1
VPOS 0.398564
VOFF 0.000000e+00
CHAN 2
SIG G:waveform
VSCALE -1
VPOS 0.398564
VOFF 0.000000e+00
CHAN 4
SIG G:reset
VSCALE 2
VPOS 0.961120
VOFF 0.000000e+00
CHAN 3
PIN joint.2.motor-pos-cmd
VSCALE 0
VPOS 0.900000
VOFF 0.000000e+00
TMODE 0
RMODE 0

83
configs/sim/axis/external_offsets/dynamic_offsets.ini Normal file
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[APPLICATIONS]
# delay because some items are done in postgui
DELAY = 5
APP = halscope -i dynamic_offsets.halscope
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl -no_sim_spindle
POSTGUI_HALFILE = dynamic_offsets_panel.hal
[EMC]
MACHINE = Dynamic External Offsets
VERSION = 1.1
[DISPLAY]
PYVCP = dynamic_offsets_panel.xml
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_LINEAR_VELOCITY = 2
OPEN_FILE = ./dyn_demo.ngc
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
USER_M_PATH = .
PARAMETER_FILE = sim.var
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ
[AXIS_X]
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
MIN_LIMIT = -1
MAX_LIMIT = 10
[AXIS_Y]
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
MIN_LIMIT = -1
MAX_LIMIT = 10
[AXIS_Z]
# Note:give half to external_offsets:
OFFSET_AV_RATIO = 0.5
# Note: modified in pyvcp panel:
MAX_VELOCITY = 2
MAX_ACCELERATION = 50
MIN_LIMIT = -5
MAX_LIMIT = 5
[JOINT_0]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 50

32
configs/sim/axis/external_offsets/dynamic_offsets.txt Normal file
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dynamic_offsets
A sinewave is applied to the Z coordinate external offset
The waveform amplitdude and frequency are set by pyvcp panel spinboxes.
The Z coordinate max acceleration and max velocity settings (from the ini file) can be modified with pyvcp panel spinboxes.
Usage:
1) Estop OFF (F1)
2) Machine ON (F2)
3) HOME All (Ctrl-Home)
4) A halscope application is started to
show the offset waveforms and the
z coordinate response
5) Enable the dynamic offset waveform
with the panel 'Z enable' checkbox
5) Use the panel to adjust:
Waveform: amplitude, frequency
Z Coordinate: max accel, max vel
Notes:
The dynamic waveform is applied with and without
running a program.
MDI cannot be started with non-zero external
offsets -- disable the Z offsets and toggle
the machine On/Off to zero offsets.
Changes to the Z max accel, max vel are not
made while a program or mdi move is in progress.

37
configs/sim/axis/external_offsets/dynamic_offsets_es.txt Normal file
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dynamic_offsets
Se aplica una onda sinusoidal al desplazamiento externo de la coordenada Z
El amplitud y frecuencia de la forma de onda se establecen mediante spinboxes de un panel pyvcp.
La configuración de aceleración máxima y velocidad máxima de coordenadas Z (del archivo ini) se puede modificar con los spinboxes del panel pyvcp.
Uso:
1) Estop OFF (F1)
2) Máquina ON (F2)
3) HOME Todo (Ctrl-Inicio)
4) Se inicia una aplicación de halscope
para mostrar los offsets de formas
de onda y la respuesta de
la coordenada z
5) Habilitar la forma de onda de
offset dinamico con la casilla 'Habilitar Z'
del panel
6) Use el panel para ajustar:
Forma de onda: amplitud, frecuencia
Coordenada Z: max accel, max vel
Notas:
La forma de onda dinámica se aplica
con y sin ejecutar un programa.
MDI no puede iniciarse con offsets
externos que no sean cero: deshabilite
los offsets Z y active/desactive la
máquina para offsets cero.
Los cambios en max accel y max vel
de Z no se realizan mientras
un programa o movimiento mdi esté
en progreso.

46
configs/sim/axis/external_offsets/dynamic_offsets_panel.hal Normal file
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loadrt siggen names=gen
loadrt scale names=scalea
loadrt conv_float_s32 names=cvt
loadrt not names=nota
loadrt or2 names=or2a
addf gen.update servo-thread
addf scalea servo-thread
addf cvt servo-thread
addf nota servo-thread
addf or2a servo-thread
setp gen.offset 0.0
# scaling -----------------------------------------------------------
# these should be reciprocals:
# 1 unit (inch) --> 10000 counts
setp axis.z.eoffset-scale 0.0001
setp scalea.gain 10000
net E:amplitude <= pyvcp.gen-amplitude => gen.amplitude
net E:frequency <= pyvcp.gen-frequency => gen.frequency
# can also use sawtooth (others inappropriate on a reset)
net G:waveform <= gen.sine => scalea.in
net G:swaveform <= scalea.out => cvt.in
net G:counts <= cvt.out => axis.z.eoffset-counts
net E:enable <= pyvcp.z-enable => axis.z.eoffset-enable
net E:enable => nota.in
net E:disable <= nota.out => or2a.in1
net E:z-offset <= axis.z.eoffset => pyvcp.z-offset-f
net E:limited <= motion.eoffset-limited => pyvcp.eoffset-limited
net E:active <= motion.eoffset-active => pyvcp.eoffset-active
net E:reset <= pyvcp.reset => or2a.in0
net E:ini-accel <= pyvcp.ini-accel => ini.z.max_acceleration
net E:ini-vel <= pyvcp.ini-vel => ini.z.max_velocity
net G:reset <= or2a.out => axis.z.eoffset-clear
net G:reset => gen.reset

166
configs/sim/axis/external_offsets/dynamic_offsets_panel.xml Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<vbox>
<label>
<relief>"ridge"</relief>
<bd>4</bd>
<text>"Z-Eoffset"</text>
<font>"bold"</font>
</label>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<checkbutton>
<anchor>"w"</anchor>
<halpin>"z-enable"</halpin>
<text>"Z enable offsets"</text>
<initval>0</initval>
</checkbutton>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"eoffset-limited"</halpin>
<size>15</size>
<on_color>"red"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" Offset Limited"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"eoffset-active"</halpin>
<size>15</size>
<on_color>"gold"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" OffsetActive"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<number>
<halpin>"z-offset-f"</halpin>
<format>"+8.4f"</format>
<width>"13"</width>
<bg>"black"</bg>
<fg>"gold"</fg>
<font>"bold"</font>
</number>
</hbox>
<label>
<relief>"ridge"</relief>
<bd>4</bd>
<text>"INI A/V"</text>
<font>"bold"</font>
</label>
</vbox>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<label>
<anchor>"w"</anchor>
<text>"Accel:"</text>
<font>"monospace,bold"</font>
</label>
<spinbox>
<halpin>"ini-accel"</halpin>
<width>6</width>
<font>"bold"</font>
<format>"8.2f"</format>
<max_>386.0</max_>
<min_>1</min_>
<resolution>1.0</resolution>
<initval>40</initval>
<param_pin>1</param_pin>
</spinbox>
</hbox>
<hbox>
<label>
<anchor>"w"</anchor>
<text>" Vel:"</text>
<font>"monospace,bold"</font>
</label>
<spinbox>
<halpin>"ini-vel"</halpin>
<width>6</width>
<font>"bold"</font>
<format>"8.2f"</format>
<min_>0.2</min_>
<max_>100</max_>
<resolution>.1</resolution>
<initval>2</initval>
<param_pin>1</param_pin>
</spinbox>
</hbox>
</vbox>
<label>
<text>"Generator"</text>
<relief>"ridge"</relief>
<bd>4</bd>
<font>"bold"</font>
</label>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<label>
<anchor>"w"</anchor>
<text>" Freq:"</text>
<font>"monospace,bold"</font>
</label>
<spinbox>
<halpin>"gen-frequency"</halpin>
<width>6</width>
<font>"bold"</font>
<format>"8.2f"</format>
<max_>10.0</max_>
<min_>0.0</min_>
<resolution>0.1</resolution>
<initval>1.0</initval>
<param_pin>1</param_pin>
</spinbox>
</hbox>
<hbox>
<label>
<anchor>"w"</anchor>
<text>" Hgt:"</text>
<font>"monospace,bold"</font>
</label>
<spinbox>
<halpin>"gen-amplitude"</halpin>
<width>6</width>
<font>"bold"</font>
<format>"8.2f"</format>
<min_>0.0</min_>
<max_>2.0</max_>
<resolution>0.1</resolution>
<initval>0.2</initval>
<param_pin>1</param_pin>
</spinbox>
</hbox>
<button>
<halpin>"reset"</halpin>
<bd>3</bd>
<width>1</width>
<text>"ResetGen"</text>
<font>"bold",10</font>
</button>
</vbox>
</vbox>
</pyvcp>

1
configs/sim/axis/external_offsets/eoffset.tbl Normal file
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T1 P1 D0.125 Z0.5

16
configs/sim/axis/external_offsets/eoffsets.hal Normal file
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#---------------------------------------------------------------
# note: axis.L.eoffset-enables are controlled by pyvcp panel
# external offset input scale:
setp axis.x.eoffset-scale 0.1
setp axis.y.eoffset-scale 0.1
setp axis.z.eoffset-scale 0.1
#---------------------------------------------------------------
# convenience signals for use with eoffsets_monitor.tcl:
net e:xcounts => axis.x.eoffset-counts
net e:ycounts => axis.y.eoffset-counts
net e:zcounts => axis.z.eoffset-counts
#---------------------------------------------------------------
# for pyvcp panel
net e:limited <= motion.eoffset-limited

104
configs/sim/axis/external_offsets/eoffsets.ini Normal file
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# Notes:
# 1) [AXIS_n]OFFSET_AV_RATIO= controls external offsets a,v
# Allowed values are 0.0 <= OFFSET_AV_RATIO <= 0.9
# Value of 0.0 disables external offsets
# Disallowed values are superseded with msg to stdout
# 2) Immediate homing herein
# ([JOINT_*]HOME_SEQUENCE=0, other HOME_* items omitted)
# 3) uncomment [JOINT_0]HOME_SEARCH_VEL,HOME_LATCH_VEL
# to demonstrate non-zero joint.0.motor-offset
[APPLICATIONS]
APP = sim_pin --title "MPG Simulator" \
e:xcounts \
e:ycounts \
e:zcounts
# make sure [xyz]:ecounts are zero if machine off:
APP = eoffsets_monitor.tcl
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange
HALFILE = eoffsets.hal
POSTGUI_HALFILE = eoffsets_panel.hal
[EMC]
MACHINE = External Offsets Demo
VERSION = 1.1
[DISPLAY]
PYVCP = eoffsets_panel.xml
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_LINEAR_VELOCITY = 2
OPEN_FILE = ./eoffsets.ngc
TKPKG = Ngcgui 1.0
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_SUBFILE = queuebuster.ngc
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
SUBROUTINE_PATH = .
USER_M_PATH = .
PARAMETER_FILE = sim.var
[EMCIO]
TOOL_TABLE = eoffset.tbl
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ
[AXIS_X]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
MIN_LIMIT = -0.1
MAX_LIMIT = 10
[AXIS_Y]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
MIN_LIMIT = -0.1
MAX_LIMIT = 5
[AXIS_Z]
OFFSET_AV_RATIO = 0.2
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
MIN_LIMIT = -1
MAX_LIMIT = 1
[JOINT_0]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 20

35
configs/sim/axis/external_offsets/eoffsets.ngc Normal file
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#<xmax> = 9
#<ymax> = 4
#<zdepth> = 0
#<feed> = 20
#<x1> = [0.25 * #<xmax>]
#<y1> = [0.66 * #<ymax>]
#<z1> = 0
#<x2> = [0.50 * #<xmax>]
#<y2> = 0
#<z2> = -.5
#<x3> = [0.75 * #<xmax>]
#<y3> = 0
#<z3> = 0
#<x4> = #<x3>
#<y4> = #<y1>
#<z4> = 0
m111 ;clear notifications
g61
g0x0y0z0
f #<feed>
g1 x #<x1> y #<y1> z #<z1>
g1 x #<x2> y #<y2> z #<z2>
g1 x #<x3> y #<y3> z #<z3>
g1 x #<x4> y #<y4> z #<z4>
g1 x #<xmax> y #<ymax>
g0x0y0z0
m111 ;clear notifications
m2

26
configs/sim/axis/external_offsets/eoffsets.txt Normal file
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eoffsets.ini
Usage:
1) Estop OFF (F1)
2) Machine ON (F2)
3) HOME All (Ctrl-Home)
4) Explore external offset functionality
using the sim_pin gui to alter the
per-axis hal pins:
e:xcounts (sig to => axis.x.eoffset-counts)
e:ycounts (sig to => axis.y.eoffset-counts)
e:zcounts (sig to => axis.z.eoffset-counts)
e:clearall (sig to => axis.*.eoffset-clear)
-------------------------------------------
Note: The external offset interface is
similar to the interface for wheel jogging:
Input hal pins:
axis.L.eoffset-enable (bit)
axis.L.eoffset-clear (bit)
axis.L.eoffset-scale (float)
axis.L.eoffset-counts (s32)
Requested offset == counts*scale

26
configs/sim/axis/external_offsets/eoffsets_es.txt Normal file
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eoffsets.ini
Uso:
1) Estop OFF (F1)
2) Máquina ON (F2)
3) HOME Todo (Ctrl-Home)
4) Explorar funcionalidad de offset
externos usando gui sim_pin para
alterar los pines hal por eje:
e:xcounts (señal a => axis.x.eoffset-counts)
e:ycounts (señal a=> axis.y.eoffset-counts)
e:zcounts (señal a=> axis.z.eoffset-counts)
e:clearall (señal a=> axis.*.eoffset-clear)
-------------------------------------------
Note: El interface de offsets externos es
similar al de jog por volante:
Pines Input hal:
axis.L.eoffset-enable (bit)
axis.L.eoffset-clear (bit)
axis.L.eoffset-scale (float)
axis.L.eoffset-counts (s32)
Offset solicitado == counts*scale

27
configs/sim/axis/external_offsets/eoffsets_monitor.tcl Executable file
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#!/usr/bin/tclsh
# script to ensure e:[xyz]counts are zero if machine off
package require Hal
set ::prog [file tail [info script]]
set ::periodic_delay_ms 200
proc monitor_ecounts {} {
catch {after cancel $::a_id}
if { ![hal getp halui.machine.is-on]
&& ( 0 != [hal gets e:xcounts]
|| 0 != [hal gets e:ycounts]
|| 0 != [hal gets e:zcounts]) } {
# handle deferred connection to signal
if [catch { hal sets e:xcounts 0
hal sets e:ycounts 0
hal sets e:zcounts 0
} msg] {
puts stderr msg=$msg
puts stderr "$::prog exiting"
exit 1
}
}
set ::a_id [after $::periodic_delay_ms monitor_ecounts]
}
monitor_ecounts
vwait ::forever

49
configs/sim/axis/external_offsets/eoffsets_panel.hal Normal file
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# existing (basic_sim.tcl) signals for display:
net J0:pos-cmd => pyvcp.motor-pos-cmd.0-f
net J1:pos-cmd => pyvcp.motor-pos-cmd.1-f
net J2:pos-cmd => pyvcp.motor-pos-cmd.2-f
# motor-offset (display only):
net E:motor-offset.0 <= joint.0.motor-offset => pyvcp.motor-offset.0-f
net E:motor-offset.1 <= joint.1.motor-offset => pyvcp.motor-offset.1-f
net E:motor-offset.2 <= joint.2.motor-offset => pyvcp.motor-offset.2-f
# controls for demo (from sim_pin setp, no pin source):
# note these are teleop pos-cmds (not coord motion)
net E:x-pos-cmd => axis.x.pos-cmd => pyvcp.x-pos-cmd-f
net E:y-pos-cmd => axis.y.pos-cmd => pyvcp.y-pos-cmd-f
net E:z-pos-cmd => axis.z.pos-cmd => pyvcp.z-pos-cmd-f
# eoffset (display only):
net E:x-offset <= pyvcp.x-offset-f => axis.x.eoffset
net E:y-offset <= pyvcp.y-offset-f => axis.y.eoffset
net E:z-offset <= pyvcp.z-offset-f => axis.z.eoffset
# offset-request (display only):
net E:x-offset-request <= axis.x.eoffset-request
net E:x-offset-request => pyvcp.x-offset-request-f
net E:y-offset-request <= axis.y.eoffset-request
net E:y-offset-request => pyvcp.y-offset-request-f
net E:z-offset-request <= axis.z.eoffset-request
net E:z-offset-request => pyvcp.z-offset-request-f
# enables
net E:x-enable <= pyvcp.x-enable => axis.x.eoffset-enable
net E:y-enable <= pyvcp.y-enable => axis.y.eoffset-enable
net E:z-enable <= pyvcp.z-enable => axis.z.eoffset-enable
# scale factors
net E:x-scale <= pyvcp.x-scale => axis.x.eoffset-scale
net E:y-scale <= pyvcp.y-scale => axis.y.eoffset-scale
net E:z-scale <= pyvcp.z-scale => axis.z.eoffset-scale
# clears
net E:clearall <= pyvcp.clearall
net E:clearall => axis.x.eoffset-clear
net E:clearall => axis.y.eoffset-clear
net E:clearall => axis.z.eoffset-clear
# pyvcp led:
net e:limited <= motion.eoffset-limited => pyvcp.limited

382
configs/sim/axis/external_offsets/eoffsets_panel.xml Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<vbox>
<label>
<text>"Motor-pos-cmd"</text>
<font>"bold"</font>
</label>
</vbox>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<label>
<text>"J0:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"motor-pos-cmd.0-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"cyan"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"J1:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"motor-pos-cmd.1-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"cyan"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"J2:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"motor-pos-cmd.2-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"cyan"</fg>
<font>"bold"</font>
</number>
</hbox>
</vbox>
<vbox>
<label>
<text>"Motor-offset"</text>
<font>"bold"</font>
</label>
</vbox>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<label>
<text>"J0:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"motor-offset.0-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"white"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"J1:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"motor-offset.1-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"white"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"J2:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"motor-offset.2-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"white"</fg>
<font>"bold"</font>
</number>
</hbox>
</vbox>
<vbox>
<label>
<text>"Axis-pos-cmd"</text>
<font>"bold"</font>
</label>
</vbox>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<label>
<text>" X:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"x-pos-cmd-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"greenyellow"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>" Y:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"y-pos-cmd-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"greenyellow"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>" Z:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"z-pos-cmd-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"greenyellow"</fg>
<font>"bold"</font>
</number>
</hbox>
</vbox>
<vbox>
<label>
<text>"Eoffsets(act/req)"</text>
<font>"bold"</font>
</label>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<label>
<padx>5</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"limited"</halpin>
<size>15</size>
<on_color>"red"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" Offset Limited"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<label>
<text>"Xa:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"x-offset-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"gold"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"Ya:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"y-offset-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"gold"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"Za:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"z-offset-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"gold"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"Xr:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"x-offset-request-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"orange"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"Yr:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"y-offset-request-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"orange"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<text>"Zr:"</text>
<font>"monospace"</font>
<anchor>"w"</anchor>
</label>
<number>
<halpin>"z-offset-request-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"orange"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<anchor>"w"</anchor>
<text>"Xenable"</text>
</label>
<checkbutton>
<anchor>"w"</anchor>
<halpin>"x-enable"</halpin>
<text>""</text>
<initval>0</initval>
</checkbutton>
<label>
<anchor>"w"</anchor>
<text>""</text>
<padx>0</padx>
</label>
<spinbox>
<halpin>"x-scale"</halpin>
<min_> 0.1</min_>
<max_>10.0</max_>
<width>4</width>
<initval>0.1</initval>
<resolution>0.1</resolution>
<format>"4.1f"</format>
<font>"bold"</font>
<param_pin>1</param_pin>
</spinbox>
</hbox>
<hbox>
<label>
<anchor>"w"</anchor>
<text>"Yenable"</text>
</label>
<checkbutton>
<anchor>"w"</anchor>
<halpin>"y-enable"</halpin>
<text>""</text>
<padx>0</padx>
<initval>0</initval>
</checkbutton>
<label>
<anchor>"w"</anchor>
<text>""</text>
</label>
<spinbox>
<halpin>"y-scale"</halpin>
<min_> 0.1</min_>
<max_>10.0</max_>
<width>4</width>
<initval>0.1</initval>
<resolution>0.1</resolution>
<format>"4.1f"</format>
<font>"bold"</font>
<param_pin>1</param_pin>
</spinbox>
</hbox>
<hbox>
<label>
<anchor>"w"</anchor>
<text>"Zenable"</text>
</label>
<checkbutton>
<anchor>"w"</anchor>
<halpin>"z-enable"</halpin>
<text>""</text>
<padx>0</padx>
<initval>0</initval>
</checkbutton>
<label>
<anchor>"w"</anchor>
<text>""</text>
</label>
<spinbox>
<halpin>"z-scale"</halpin>
<min_> 0.1</min_>
<max_>10.0</max_>
<width>4</width>
<initval>0.1</initval>
<resolution>0.1</resolution>
<format>"4.1f"</format>
<font>"bold"</font>
<param_pin>1</param_pin>
</spinbox>
</hbox>
<button>
<halpin>"clearall"</halpin>
<bd>3</bd>
<width>1</width>
<text>"ClearOffsets"</text>
<font>"bold",10</font>
</button>
</vbox>
</vbox>
</pyvcp>

86
configs/sim/axis/external_offsets/jwp_z.ini Normal file
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# Notes:
# 1) [AXIS_n]OFFSET_AV_RATIO= controls external offsets a,v
# Allowed values are 0.0 <= OFFSET_AV_RATIO <= 0.9
# Value of 0.0 disables external offsets
# Disallowed values are superseded with msg to stdout
# 2) Immediate homing herein
# ([JOINT_*]HOME_SEQUENCE=0, other HOME_* items omitted)
# 3) uncomment [JOINT_0]HOME_SEARCH_VEL,HOME_LATCH_VEL
# to demonstrate non-zero joint.0.motor-offset
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = jwp_z_panel.hal
[EMC]
MACHINE = Jog-While-Pause Z Demo
VERSION = 1.1
[DISPLAY]
PYVCP = jwp_z_panel.xml
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_LINEAR_VELOCITY = 2
OPEN_FILE = ./jwp_z.ngc
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
USER_M_PATH = .
PARAMETER_FILE = sim.var
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ
[AXIS_X]
MIN_LIMIT = -1
MAX_LIMIT = 11
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[AXIS_Y]
MIN_LIMIT = -1
MAX_LIMIT = 5
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[AXIS_Z]
# Note: low OFFSET_AV_RATIO:
OFFSET_AV_RATIO = 0.05
MIN_LIMIT = -1
MAX_LIMIT = 1
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[JOINT_0]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[JOINT_1]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 20
[JOINT_2]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 2
MAX_ACCELERATION = 20

35
configs/sim/axis/external_offsets/jwp_z.ngc Normal file
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#<xmax> = 10
#<ymax> = 5
#<zsafe> = 0.5
#<feed> = 100
#<x1> = [0.25 * #<xmax>]
#<y1> = [0.66 * #<ymax>]
#<x2> = [0.50 * #<xmax>]
#<y2> = [0.33 * #<ymax>]
#<x3> = [0.75 * #<xmax>]
#<y3> = [0.33 * #<ymax>]
m111 ;clear notifications
g61
g0 x0 y0 z#<zsafe>
(debug, Enter offsets only when paused, s to continue)
m0
m111
f #<feed>
g0 z0
g1 x #<x1> y #<y1>
g1 x #<x2> y #<y2>
g1 x #<x3> y #<y3>
g1 x #<xmax> y #<ymax>
g0 z#<zsafe>
(debug, Program End: Clear offsets, s to continue)
m0
g0 x0 y0
m111 ;clear notifications
m2

16
configs/sim/axis/external_offsets/jwp_z.txt Normal file
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jwp_z.ini
Usage:
1) Estop OFF (F1)
2) Machine ON (F2)
3) HOME All (Ctrl-Home)
4) Run program (R)
5) initial pause:
adjust z offset (+Incr/-Decr)
6) Resume (S)
7) Pause (P)
adjust z offset (+Incr/-Decr)
8) Resume (R)
9) Final pause
return offset to zero (+Incr/-Decr)
or Clear

16
configs/sim/axis/external_offsets/jwp_z_es.txt Normal file
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jwp_z.ini
Uso:
1) Estop OFF (F1)
2) Máquina ON (F2)
3) HOME Todo (Ctrl-Home)
4) Correr programa (R)
5) pausa inicial:
ajuste z offset (+Incr/-Decr)
6) Reanudar (S)
7) Pausa (P)
ajuste z offset (+Incr/-Decr)
8) Reanudar (R)
9) Pausa final
volver offset a zero (+Incr/-Decr)
o borrar

17
configs/sim/axis/external_offsets/jwp_z_panel.hal Normal file
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loadrt updown names=zctr
addf zctr servo-thread
net E:z-plus <= pyvcp.z-plus => zctr.countup
net E:z-minus <= pyvcp.z-minus => zctr.countdown
net E:z-counts <= zctr.count => axis.z.eoffset-counts
net E:z-scale <= pyvcp.z-scale => axis.z.eoffset-scale
net E:z-offset <= axis.z.eoffset => pyvcp.z-offset-f
net E:limited <= motion.eoffset-limited => pyvcp.limited
net E:active <= motion.eoffset-active => pyvcp.eoffset-active
net E:paused <= halui.program.is-paused => axis.z.eoffset-enable
net E:paused => pyvcp.paused
net E:clearall <= pyvcp.clearall
net E:clearall => axis.x.eoffset-clear
net E:clearall => axis.y.eoffset-clear
net E:clearall => axis.z.eoffset-clear

112
configs/sim/axis/external_offsets/jwp_z_panel.xml Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<vbox>
<label>
<text>"Eoffsets"</text>
<font>"bold"</font>
</label>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"paused"</halpin>
<size>15</size>
<on_color>"springgreen"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" Paused"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"limited"</halpin>
<size>15</size>
<on_color>"red"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" Offset Limited"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"eoffset-active"</halpin>
<size>15</size>
<on_color>"gold"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" OffsetActive"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<number>
<halpin>"z-offset-f"</halpin>
<format>"+8.4f"</format>
<width>"13"</width>
<bg>"black"</bg>
<fg>"gold"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<anchor>"w"</anchor>
<text>"Scale:"</text>
<font>"bold"</font>
</label>
<spinbox>
<halpin>"z-scale"</halpin>
<min_>0.0</min_>
<max_>1.0</max_>
<width>6</width>
<initval>0.01</initval>
<resolution>0.01</resolution>
<format>"8.2f"</format>
<font>"bold"</font>
<param_pin>1</param_pin>
</spinbox>
</hbox>
<button>
<halpin>"z-plus"</halpin>
<text>"+ Incr"</text>
<bd>4</bd>
<font>"bold",10</font>
</button>
<button>
<halpin>"z-minus"</halpin>
<bd>4</bd>
<width>1</width>
<text>"- Decr"</text>
<font>"bold",10</font>
</button>
<button>
<halpin>"clearall"</halpin>
<bd>4</bd>
<width>1</width>
<text>"Clear"</text>
<font>"bold",10</font>
</button>
</vbox>
</vbox>
</pyvcp>

47
configs/sim/axis/external_offsets/opa.hal Normal file
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loadrt eoffset_per_angle names=xo
setp xo.k 10000
setp xo.fnum 2
addf xo servo-thread
#-----------------------------------------------------------
# required standard connections to xo
net E:angle <= axis.c.pos-cmd
net E:angle => xo.angle
net E:is-on <= halui.machine.is-on
net E:is-on => xo.is-on
net E:active <= motion.eoffset-active
net E:active => xo.active
net E:radius-ref <= motion.analog-out-00
net E:radius-ref => xo.radius-ref
#-----------------------------------------------------------
# required standard connections from xo
net E:eoffset-enable <= xo.enable-out
net E:eoffset-enable => axis.x.eoffset-enable
net E:clear <= xo.clear
net E:clear => axis.x.eoffset-clear
net E:scale <= xo.kreciprocal
net E:scale => axis.x.eoffset-scale
net E:kcounts <= xo.kcounts
net E:kcounts => axis.x.eoffset-counts
#-----------------------------------------------------------
# signals with sink elsewhere (sim: opa_panel.hal)
net E:x-eoffset <= axis.x.eoffset
# convenience pin, use as required:
net E:is-off <= xo.is-off
#-----------------------------------------------------------
# signals with source elsewhere (sim: opa_panel.hal)
net E:enable-in => xo.enable-in
net E:fnum => xo.fnum
net E:rfraction => xo.rfraction
net E:fmult => xo.fmult
net E:start-angle => xo.start-angle

87
configs/sim/axis/external_offsets/opa.ini Normal file
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[APPLICATIONS]
DELAY = 3
# For assessing system accel/vel:
# (particularly when using func3 square wave modulation)
APP = sim_pin ini.x.max_acceleration ini.x.max_velocity
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = opa.hal
POSTGUI_HALFILE = opa_panel.hal
[EMC]
MACHINE = External Offset(X) per Angle(C) Demo
VERSION = 1.1
[DISPLAY]
PYVCP = opa_panel.xml
DISPLAY = axis
OPEN_FILE = opa_demo.ngc
GEOMETRY = !CXZ
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_LINEAR_VELOCITY = 2
MAX_ANGULAR_VELOCITY = 60
TKPKG = Ngcgui 1.0
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_SUBFILE = circles.ngc
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
SUBROUTINE_PATH = .
USER_M_PATH = .
PARAMETER_FILE = sim.var
[EMCIO]
TOOL_TABLE = eoffset.tbl
[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
[TRAJ]
COORDINATES = XZC
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XZC
[AXIS_X]
OFFSET_AV_RATIO = 0.5
MAX_VELOCITY = 5
# increase MAX_ACCELERATION to improve
# waveform tracking:
MAX_ACCELERATION = 50
[AXIS_Z]
MAX_VELOCITY = 5
MAX_ACCELERATION = 10
[AXIS_C]
MAX_VELOCITY = 60
MAX_ACCELERATION = 600
[JOINT_0]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 5
MAX_ACCELERATION = 50
[JOINT_1]
TYPE = LINEAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 5
MAX_ACCELERATION = 10
[JOINT_2]
TYPE = ANGULAR
HOME_SEQUENCE = 0
MAX_VELOCITY = 60
MAX_ACCELERATION = 600

41
configs/sim/axis/external_offsets/opa.txt Normal file
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opa.ini Offset per Angle
Demonstrates external offsets using the
hal component: eoffset_per_angle.
A simulation for an XZC machine offsets
the transverse (X) coordinate based on
the rotary coordinate (C) angle.
($ man eoffset_per_angle for more info)
Usage:
1) Estop OFF (F1)
2) Machine ON (F2)
3) HOME All (Ctrl-Home)
4) Run (R)
5) Enable/Disable offsets using pyvcp
panel On/Off buttons
6) Select parameters:
Astart ----- starting angle
fmult ------ frequency multiplier
rfraction -- amplitude (radius fraction)
func ------- function
0 polygon (inside)
1 polygon (outside)
2 sine wave
3 square wave
Notes:
1) The effective radius used for computing
external offsets is set using the
motion.analog-out-00 hal pin and
controlled by the sample program or
by MDI ( M68 E0 Q some_radius_value )
2) Offset fidelity is dependent upon inifile
settings for [AXIS_X] items:
MAX_VELOCITY
MAX_ACCELERATION
OFFSET_AV_RATIO

15
configs/sim/axis/external_offsets/opa_demo.ngc Normal file
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; opa_demo.ngc:
; invoke subroutine circles.ngc for multiple circles (#<revs>)
; with:
; x = #<radius>
; z = #<_z>
#<radius> = 1
#<z> = #<_z> ; current value
#<aspeed> = 8 ; angular speed (RPM)
#<lspeed> = 10 ; linear speed (units/minute)
#<revs> = 100
g0 x#<radius> z#<z>
o<circles> call [#<radius>][#<aspeed>][#<lspeed>][#<revs>]
m2

45
configs/sim/axis/external_offsets/opa_es.txt Normal file
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opa.ini Offset por Ángulo
Demuestra offsets externos utilizando
el componente hal: eoffset_per_angle.
Una simulación para una máquina XZC
desplaza la coordenada transversal
(X) basada en el ángulo de la
coordenada giratoria (C).
($ man eoffset_per_angle)
Uso:
1) Estop OFF (F1)
2) Máquina ON (F2)
3) HOME Todo (Ctrl-Inicio)
4) Ejecutar (R)
5) Activar/Desactivar offsets usando
los botones de encendido/apagado
del panel pyvcp
6) Seleccionar parámetros:
Ainicio --- ángulo de inicio
fmult ----- multiplicador de frecuencia
rfracción - amplitud (fracción de radio)
func ------ función
0 polígono (dentro)
1 polígono (exterior)
2 ondas sinusoidales
Onda cuadrada 3
Notas:
1) El radio efectivo utilizado para
calcular los offsets externos se
establece utilizando el pin de
movimiento motion.analog-out-00
y controlado por el programa de
muestra o por MDI (M68 E0 Q valor_radio)
2) La fidelidad del offset depende de
la configuración de archivos para
los elementos de [AXIS_X]:
MAX_VELOCITY
MAX_ACCELERATION
OFFSET_AV_RATIO

31
configs/sim/axis/external_offsets/opa_panel.hal Normal file
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loadrt flipflop names=ff1
addf ff1 servo-thread
setp ff1.data 0
net P:wave-start <= pyvcp.wave-start
net P:wave-start => ff1.set
net P:wave-stop <= pyvcp.wave-stop
net P:wave-stop => ff1.clk
net P:limited <= motion.eoffset-limited
net P:limited => pyvcp.eoffset-limited
net P:paused <= halui.program.is-paused
net P:paused => pyvcp.paused
#----------------------------------------------
# signals created in opa.hal
net E:enable-in <= ff1.out
net E:enable-in => pyvcp.waveon
net E:fnum <= pyvcp.fnum-i
net E:rfraction <= pyvcp.rfraction
net E:fmult <= pyvcp.fmult
net E:start-angle <= pyvcp.start-angle
net E:is-off => ff1.reset
net E:eoffset-enable => pyvcp.eoffset-enable
net E:x-eoffset => pyvcp.x-offset-f
net E:radius-ref => pyvcp.radius-ref
net E:active => pyvcp.eoffset-active

231
configs/sim/axis/external_offsets/opa_panel.xml Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<pyvcp>
<vbox>
<relief>"ridge"</relief>
<bd>5</bd>
<label>
<text>"X Offset"</text>
<font>"bold"</font>
</label>
<label>
<text>"per"</text>
<font>"bold"</font>
</label>
<label>
<text>"C Angle"</text>
<font>"bold"</font>
</label>
<vbox>
<relief>"sunken"</relief>
<bd>3</bd>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
<text>"o"</text>
</label>
<number>
<halpin>"x-offset-f"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"gold"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
<text>"r"</text>
</label>
<number>
<halpin>"radius-ref"</halpin>
<format>"+10.4f"</format>
<width>"10"</width>
<bg>"black"</bg>
<fg>"skyblue"</fg>
<font>"bold"</font>
</number>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"eoffset-limited"</halpin>
<size>15</size>
<on_color>"red"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" Offset Limit"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"eoffset-enable"</halpin>
<size>15</size>
<on_color>"gold"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" OffsetOn"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"eoffset-active"</halpin>
<size>15</size>
<on_color>"gold"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" OffsetActive"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"paused"</halpin>
<size>15</size>
<on_color>"springgreen"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" Paused"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<label>
<padx>0</padx>
<font>"monospace"</font>
</label>
<led>
<halpin>"waveon"</halpin>
<size>15</size>
<on_color>"cyan"</on_color>
<off_color>"#d9d9d9"</off_color>
</led>
<label>
<text>" WaveOn"</text>
<anchor>"w"</anchor>
</label>
</hbox>
<hbox>
<button>
<halpin>"wave-start"</halpin>
<text>"On"</text>
<width>"3"</width>
<bd>3</bd>
</button>
<button>
<halpin>"wave-stop"</halpin>
<text>"Off"</text>
<width>"3"</width>
<bd>3</bd>
</button>
</hbox>
<hbox>
<spinbox>
<halpin>"start-angle"</halpin>
<min_>-90.0</min_>
<max_>90.0</max_>
<width>4</width>
<initval>0</initval>
<resolution>5</resolution>
<format>"3.1f"</format>
<font>"bold"</font>
<param_pin>1</param_pin>
</spinbox>
<label>
<anchor>"w"</anchor>
<text>"Astart"</text>
<font>"bold"</font>
</label>
</hbox>
<hbox>
<spinbox>
<halpin>"fmult"</halpin>
<min_>1.0</min_>
<max_>20.0</max_>
<width>4</width>
<initval>6</initval>
<resolution>1</resolution>
<format>"3.1f"</format>
<font>"bold"</font>
</spinbox>
<label>
<anchor>"w"</anchor>
<text>"fmult"</text>
<font>"bold"</font>
</label>
</hbox>
<hbox>
<spinbox>
<halpin>"rfraction"</halpin>
<min_>-0.9</min_>
<max_>0.9</max_>
<width>4</width>
<initval>0.0</initval>
<resolution>.1</resolution>
<format>"3.1f"</format>
<font>"bold"</font>
<param_pin>1</param_pin>
</spinbox>
<label>
<anchor>"w"</anchor>
<text>"rfraction"</text>
<font>"bold"</font>
</label>
</hbox>
<hbox>
<label>
<anchor>"w"</anchor>
<text>" fnum:"</text>
<font>"bold"</font>
</label>
<scale>
<font>"monospace"</font>
<width>"10"</width>
<halpin>"fnum"</halpin>
<resolution>1</resolution>
<orient>VERTICAL</orient>
<initval>0</initval>
<min_>0</min_>
<max_>3</max_>
<param_pin>1</param_pin>
</scale>
</hbox>
</vbox>
</vbox>
</pyvcp>

45
configs/sim/axis/external_offsets/queuebuster.ngc Normal file
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o<queuebuster> sub
#<xmax> = #1 (=9)
#<ymax> = #2 (=3)
#<feed> = #3 (=100)
#<ct> = #4 (=100)
#<use_m6> = #5 (=0)
#<use_m66> = #6 (=0)
#<use_m38> = #7 (=0)
#<pauseatend> = #8 (=1)
g20 g61 g90 ;inches, exactpath,absolute
g0 x0y0z0
f#<feed>
o<loop> repeat [#<ct>]
m111
g1 x#<xmax> y0
o<um6> if [#<use_m6> GT 0]
(debug, m6 queuebuster follows)
t1m6 ;QB toolchange
o<um6> endif
o<um66> if [#<use_m66> GT 0]
(debug, m66 queuebuster follows)
m66p0l0 ;QB wait on input l0=immediate
o<um66> endif
o<um38> if [#<use_m38> GT 0]
(debug, g38.3 queuebuster follows)
g38.3z-.2 ; QB probe
g1 z0
o<um38> endif
g1 y#<ymax>
g1 x0
g1 x0 y0
o<pas> if [#<pauseatend> GT 0]
(debug, Paused, s to continue)
m0
o<pas> endif
o<loop> endrepeat
o<queuebuster> endsub
; bad: t0m6 g38.3
; ok: m66