Import LinuxCNC source tree

configs/sim/axis/extrajoints/12extrajoints.ini

@@ -0,0 +1,223 @@
+[EMC]
+MACHINE = 12extrajoints
+VERSION = 1.1
+
+[APPLICATIONS]
+APP = halshow --fformat %.6f extrajoints.halshow
+# joint4 example:
+APP = sim_pin --title "j4 extrajoint" \
+      j4.limit3.min \
+      j4.limit3.max \
+      j4.limit3.maxv \
+      j4.limit3.maxa \
+      j4.limit3.in 
+
+
+[KINS]
+JOINTS = 16
+#NOTE: 4 conventional joints, 12 extra (motmod) total=16
+KINEMATICS = trivkins coordinates=XYYZ kinstype=both
+
+[EMCMOT]
+EMCMOT       = motmod num_extrajoints=12
+SERVO_PERIOD = 1000000
+
+[HAL]
+TWOPASS = on
+HALFILE = LIB:basic_sim.tcl
+HALFILE = ./extrajoints.tcl
+HALUI   = halui
+
+[DISPLAY]
+DISPLAY = axis
+MAX_LINEAR_VELOCITY = 1
+PROGRAM_PREFIX = .
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[TRAJ]
+COORDINATES = XYYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+
+[JOINT_0]
+TYPE = LINEAR
+HOME_SEQUENCE     =   0
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_1]
+TYPE = LINEAR
+HOME_SEQUENCE     =  -1
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_2]
+TYPE = LINEAR
+HOME_SEQUENCE     =  -1
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_3]
+TYPE = LINEAR
+HOME_SEQUENCE     =   2
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_4]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   3
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_5]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   4
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_6]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   5
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_7]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   6
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_8]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   7
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_9]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   8
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_10]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   9
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_11]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =  10
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_12]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =  11
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_13]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =  12 
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_14]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =  13 
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_15]
+# Uses IMMEDIATE homing
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =  14 
+HOME_SEARCH_VEL   =   0
+HOME_LATCH_VEL    =   0
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100

configs/sim/axis/extrajoints/1extrajoint.hal

@@ -0,0 +1,61 @@
+# 1extrajoint demo
+# immediate homing -- jog joint4 to make a motor-offset before homing
+loadrt [KINS]KINEMATICS
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+net J0:loop <= joint.0.motor-pos-cmd
+net J0:loop => joint.0.motor-pos-fb
+
+net J1:loop <= joint.1.motor-pos-cmd
+net J1:loop => joint.1.motor-pos-fb
+
+net J2:loop <= joint.2.motor-pos-cmd
+net J2:loop => joint.2.motor-pos-fb
+
+net J3:loop <= joint.3.motor-pos-cmd
+net J3:loop => joint.3.motor-pos-fb
+#--------------------------------------------
+# extra joint (joint4)
+
+# For simulation just connect pos-cmd to pos-fb:
+net J4:loop <= joint.4.motor-pos-cmd
+net J4:loop => joint.4.motor-pos-fb
+
+# NOTE: For a stepgen in position control mode:
+#       net J4:loop <= joint.4.motor-pos-cmd
+#       net J4:loop => joint.4.motor-pos-fb
+#       net J4:loop => stepgen_position_command
+
+# NOTE: A stepgen can be also used in velocity control mode
+#       with a PID loop but it is not necessarily required
+#       and position mode control is much simpler
+
+# NOTE: For a pid motor controller (motor/amplifier/encoder):
+#       net J4:cmd <= joint.4.motor-pos-cmd
+#       net J4:cmd => pid_command_input
+#       net J4:fb  <= encoder_measurement_output
+#       net J4:fb  => joint.4.motor-pos-fb
+
+#-----------------------------------------------------------
+# motion planner for extra joint (joint4)
+loadrt limit3 names=j4.limit3
+
+# These constraints apply to homing managed by
+# LinuxCNC and post-homing managed by the limit3 component:
+setp j4.limit3.min    [JOINT_4]MIN_LIMIT
+setp j4.limit3.max    [JOINT_4]MAX_LIMIT
+setp j4.limit3.maxv   [JOINT_4]MAX_VELOCITY
+setp j4.limit3.maxa   [JOINT_4]MAX_ACCELERATION
+
+addf j4.limit3 servo-thread
+
+net  J4:out <= j4.limit3.out
+net  J4:out => joint.4.posthome-cmd
+
+net  J4:enable <= joint.4.homed
+net  J4:enable => j4.limit3.enable

configs/sim/axis/extrajoints/1extrajoint.ini

@@ -0,0 +1,82 @@
+# This sim config uses 'immediate' homing
+# To demonstrate motor-offsets:
+#   jog the extra joint(4) away from its turn-on position
+#   then home-all
+
+[EMC]
+MACHINE = 1extrajoint
+VERSION = 1.1
+
+[APPLICATIONS]
+APP = halshow --fformat %.6f extrajoints.halshow
+APP = sim_pin --title "j4 extrajoint" \
+      j4.limit3.min \
+      j4.limit3.max \
+      j4.limit3.maxv \
+      j4.limit3.maxa \
+      j4.limit3.in
+
+[KINS]
+JOINTS = 5
+# NOTE: 4 kinematic joints + 1 extra (motmod) total=5
+KINEMATICS = trivkins coordinates=XYYZ kinstype=both
+
+[EMCMOT]
+EMCMOT       = motmod num_extrajoints=1
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = 1extrajoint.hal
+HALUI   = halui
+
+
+[DISPLAY]
+DISPLAY = axis
+MAX_LINEAR_VELOCITY = 1
+PROGRAM_PREFIX = .
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[TRAJ]
+COORDINATES = XYYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+
+[JOINT_0]
+TYPE = LINEAR
+HOME_SEQUENCE     =   1
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_1]
+TYPE = LINEAR
+HOME_SEQUENCE     =  -2
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_2]
+TYPE = LINEAR
+HOME_SEQUENCE     =  -2
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_3]
+TYPE = LINEAR
+HOME_SEQUENCE     =   3
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_4]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   0
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100

configs/sim/axis/extrajoints/1extrajoint.txt

@@ -0,0 +1,37 @@
+1extrajoint demo
+
+Demo of the motmod num_extrajoints= parameter
+
+a) XYYZ correspond one-to-one to
+   joints 0123
+b) Joint4 is an 'extra joint' that is
+   not related to any axis letter but
+   is managed independently by a limit3
+   component.
+c) All joints use 'immediate homing'
+d) Using extra joints requires
+   NON-identity kinematics and all
+   joints (including joint4) must be
+   homed before switching to world
+   mode.
+e) A halshow app is opened to display
+   key pin values
+f) A sim_pin app is opened to set key
+   pin values
+
+Usage:
+1) F1        (Estop Off)
+2) F2        (Machine On)
+3) jog joint4 to create a small offset
+4) Ctrl-HOME (Home all)
+5) demonstrate joint.4 movement using
+   the provided M144 mdi command:
+   M144 P4 Q1.23 ;move joint.4 to 1.23
+   M144 P4 Q3.21 ;move joint.4 to 3.21
+6) Alternately, demonstrate joint.[45]
+   movement using sim_pin settings:
+     j4.limit3.min  min value
+     j4.limit3.max  max value
+     j4.limit3.maxv max velocity
+     j4.limit3.maxa max acceleration
+     j4.limit3.in   requested value

configs/sim/axis/extrajoints/2extrajoints.hal

@@ -0,0 +1,30 @@
+# use limit3 for motion planning:
+loadrt limit3 names=j4.limit3,j5.limit3
+
+# These constraints apply to homing managed by
+# LinuxCNC and post-homing managed by the limit3 component:
+setp j4.limit3.min    [JOINT_4]MIN_LIMIT
+setp j4.limit3.max    [JOINT_4]MAX_LIMIT
+setp j4.limit3.maxv   [JOINT_4]MAX_VELOCITY
+setp j4.limit3.maxa   [JOINT_4]MAX_ACCELERATION
+
+addf j4.limit3 servo-thread
+
+net  J4:out <= j4.limit3.out
+net  J4:out => joint.4.posthome-cmd
+
+net  J4.enable <= joint.4.homed
+net  J4.enable => j4.limit3.enable
+
+setp j5.limit3.min    [JOINT_5]MIN_LIMIT
+setp j5.limit3.max    [JOINT_5]MAX_LIMIT
+setp j5.limit3.maxv   [JOINT_5]MAX_VELOCITY
+setp j5.limit3.maxa   [JOINT_5]MAX_ACCELERATION
+
+addf j5.limit3 servo-thread
+
+net  J5:out <= j5.limit3.out
+net  J5:out => joint.5.posthome-cmd
+
+net  J5.enable <= joint.5.homed
+net  J5.enable => j5.limit3.enable

configs/sim/axis/extrajoints/2extrajoints.ini

@@ -0,0 +1,107 @@
+[EMC]
+MACHINE      = 2extrajoints
+VERSION = 1.1
+
+[APPLICATIONS]
+APP = halshow --fformat %.6f extrajoints.halshow
+APP = sim_pin --title "j4 extrajoint" \
+      j4.limit3.min \
+      j4.limit3.max \
+      j4.limit3.maxv \
+      j4.limit3.maxa \
+      j4.limit3.in 
+
+APP = sim_pin --title "j5 extrajoints" \
+      j5.limit3.min \
+      j5.limit3.max \
+      j5.limit3.maxv \
+      j5.limit3.maxa \
+      j5.limit3.in
+
+
+[KINS]
+JOINTS = 6
+#NOTE: 4 conventional joints, 2 extra (motmod) total=6
+KINEMATICS = trivkins coordinates=XYYZ kinstype=both
+
+[EMCMOT]
+EMCMOT       = motmod num_extrajoints=2
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = LIB:basic_sim.tcl
+HALFILE = ./2extrajoints.hal
+HALUI   = halui
+
+[DISPLAY]
+DISPLAY = axis
+MAX_LINEAR_VELOCITY = 1
+PROGRAM_PREFIX = .
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[TRAJ]
+COORDINATES = XYYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+
+[JOINT_0]
+TYPE = LINEAR
+HOME_SEQUENCE     =   1
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_1]
+TYPE = LINEAR
+HOME_SEQUENCE     =  -2
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_2]
+TYPE = LINEAR
+HOME_SEQUENCE     =  -2
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_3]
+TYPE = LINEAR
+HOME_SEQUENCE     =   3
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_4]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   0
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100
+
+[JOINT_5]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   0
+HOME_SEARCH_VEL   =  20
+HOME_LATCH_VEL    =  20
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100

configs/sim/axis/extrajoints/2extrajoints.txt

@@ -0,0 +1,46 @@
+2extrajoints demo
+
+Demo of the motmod num_extrajoints= parameter
+
+a) XYYZ correspond one-to-one to
+   joints 0123
+b) joint.4 and joint.5 are 'extra'
+   joints not related to any axis
+   letter but managed independently by
+   limit3 components.
+c) The configuration uses basic_sim.tcl
+   and simulates home switches for all
+   joints.
+d) Using extra joints requires
+   NON-identity kinematics and all
+   joints (including joint4) must be
+   homed before switching to world
+   mode.
+e) A halshow app is opened to display
+   key pin values
+f) A sim_pin app is opened to set key
+   pin values
+
+Usage:
+1) F1        (Estop Off)
+2) F2        (Machine On)
+3) optionally jog joint.4 and joint.5
+   prior to homing to observe motor
+   offset
+4) Ctrl-HOME (Home all)
+5) demonstrate joint.[45] movement
+   using the provided M144 mdi
+   command:
+   M144 P4 Q1.23 move joint.4 to 1.23
+   M144 P4 Q4.56 move joint.4 to 4.56
+   M144 P5 Q3.21 move joint.5 to 3.21
+   M144 P5 Q2.22 move joint.5 to 2.22
+   etc.
+6) Alternately, demonstrate joint.[45]
+   movement using sim_pin settings:
+     j4.limit3.min  min value
+     j4.limit3.max  max value
+     j4.limit3.maxv max velocity
+     j4.limit3.maxa max acceleration
+     j4.limit3.in   requested value
+     similar for j5

configs/sim/axis/extrajoints/M144

@@ -0,0 +1,35 @@
+#!/usr/bin/tclsh
+
+# M144 demo for extra joints 
+# Usage: M144 [Pjoint_num] [Qposition]
+
+# Mcodes substitute "-1.000000" for omitted p,q values
+# so these are handled as special cases
+# Note: this also disallows a q value of -1 (sigh)
+
+set min_joint_num  4
+set max_joint_num 15
+
+proc fail {msg} {
+  puts "\nFAIL:  $::argv0 $msg"
+  puts "Usage: $::argv0 P<jointnumber> Q<position>"
+  exit 1
+}
+
+set p [lindex $::argv 0]
+set q [lindex $::argv 1]
+
+if {"$p" == "-1.000000"} {fail "Missing Pvalue"}
+if {"$q" == "-1.000000"} {fail "Missing Qvalue (or -1)"}
+
+set p [expr int($p)]
+if {$p < $min_joint_num || $p > $max_joint_num} {
+  fail "Bad Pvalue (extra joint number) <$p>"
+}
+
+set cmd "halcmd setp j${p}.limit3.in $q"
+if [catch {eval exec $cmd} msg] {
+  fail "Command:$cmd\n$msg"
+}
+puts "\nOK: $::argv0: $cmd"
+exit 0

configs/sim/axis/extrajoints/README

@@ -0,0 +1,18 @@
+extrajoints demos
+
+1extrajoint
+   5 joints total
+   1 extra joint (joint.4)
+   immediate homing
+   (jog joint4 before homing to
+   create a small motor offset)
+
+2extrajoints
+   6 joints total
+   2 extra joints (joint.4,5)
+   simulated home switches
+
+12extrajoints
+   16 joints total
+   12 extra joints (joint.4-15)
+   simulated home switches

configs/sim/axis/extrajoints/extrajoints.halshow

@@ -0,0 +1,28 @@
+pin+j4.limit3.in
+pin+j4.limit3.out
+
+pin+joint.4.posthome-cmd
+pin+joint.4.homed
+pin+joint.4.motor-pos-cmd
+pin+joint.4.motor-pos-fb
+pin+joint.4.motor-offset
+
+pin+j4.limit3.max
+pin+j4.limit3.min
+pin+j4.limit3.maxv
+pin+j4.limit3.maxa
+
+pin+j5.limit3.in
+pin+j5.limit3.out
+
+pin+joint.5.posthome-cmd
+pin+joint.5.homed
+pin+joint.5.motor-pos-cmd
+pin+joint.5.motor-pos-fb
+pin+joint.5.motor-offset
+
+pin+j5.limit3.max
+pin+j5.limit3.min
+pin+j5.limit3.maxv
+pin+j5.limit3.maxa
+

configs/sim/axis/extrajoints/extrajoints.tcl

@@ -0,0 +1,35 @@
+# extrajoints.tcl (requires [HAL]TWOPASS
+# create limit3 and signals for all extra joints
+
+set script [file tail [info script]]
+set min_joint_num  0 ;# first possible extra joint
+set max_joint_num 15 ;# last  possible extra joint
+
+for {set j $min_joint_num} {$j <= $max_joint_num} {incr j} {
+  if [catch {getp joint.${j}.posthome-cmd} msg] {
+     #puts "$::argv0: skip $j"
+     continue
+  } else {
+     if [::tp::passnumber] {
+       puts "$script: Create limit3 for extra joint $j"
+     }
+  }
+  catch {
+    # use limit3 for motion planning:
+    loadrt limit3 names=j${j}.limit3
+    addf j${j}.limit3 servo-thread
+
+    # These constraints apply to homing managed by
+    # LinuxCNC and post-homing managed by the limit3 component:
+    setp j${j}.limit3.min  [set ::JOINT_[set j](MIN_LIMIT)]
+    setp j${j}.limit3.max  [set ::JOINT_[set j](MAX_LIMIT)]
+    setp j${j}.limit3.maxv [set ::JOINT_[set j](MAX_VELOCITY)]
+    setp j${j}.limit3.maxa [set ::JOINT_[set j](MAX_ACCELERATION)]
+
+    net  J${j}:out    <= j${j}.limit3.out
+    net  J${j}:out    => joint.${j}.posthome-cmd
+
+    net  J${j}.enable <= joint.${j}.homed
+    net  J${j}.enable => j${j}.limit3.enable
+  }
+}