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configs/sim/axis/lathe-fanucy/README

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+An example of combining the G43.2 compound offset idea with remapping to create
+a toolchange similar to Fanuc. 
+
+T1 = select and load tool 1, and apply the base offset for tool 1
+T0101 = select and load tool 1 and apply offsets 1 and 10001
+T0201 = select and load tool 1 and apply offsets 1 and 10002
+
+This might not exactly match Fanuc, but the behaviour is easy to change
+by editing toolchange.ngc
+

configs/sim/axis/lathe-fanucy/lathe-fanucy.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = lathe-fanucy
+  DEBUG = 0
+
+[DISPLAY]
+             DISPLAY = axis
+               LATHE = 1
+              #EDITOR = geany
+          CYCLE_TIME = 0.100
+     POSITION_OFFSET = RELATIVE
+   POSITION_FEEDBACK = ACTUAL
+   MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+      PROGRAM_PREFIX = ../../nc_files/
+       INTRO_GRAPHIC = linuxcnc.gif
+          INTRO_TIME = 5
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+              png = image-to-gcode
+              gif = image-to-gcode
+              jpg = image-to-gcode
+               py = python3
+
+[RS274NGC]
+SUBROUTINE_PATH = ./:../
+          REMAP = T prolog=get_T_number ngc=toolchange
+ PARAMETER_FILE = sim-lathe.var
+
+[EMCMOT]
+      EMCMOT = motmod
+COMM_TIMEOUT =       1.0
+ BASE_PERIOD =   50000
+SERVO_PERIOD = 1000000
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALFILE = LIB:basic_sim.tcl
+
+[TRAJ]
+         COORDINATES = X Z
+        LINEAR_UNITS = inch
+       ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.0
+MAX_LINEAR_VELOCITY = 3.333333
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_ACCELERATION = 20.0
+
+[EMCIO]
+                 TOOL_TABLE = lathe-fanucy.tbl
+       TOOL_CHANGE_POSITION = 2 0 1
+TOOL_CHANGE_WITH_SPINDLE_ON = 1
+
+[KINS]
+KINEMATICS = trivkins coordinates=xz
+    JOINTS = 2
+
+[AXIS_X]
+       MIN_LIMIT = -10.0
+       MAX_LIMIT =  10.0
+    MAX_VELOCITY =   3.333333
+MAX_ACCELERATION =  20.0
+
+[AXIS_Z]
+       MIN_LIMIT = -2.0
+       MAX_LIMIT =  4.0
+    MAX_VELOCITY =  3.333333
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
+            TYPE = LINEAR
+    MAX_VELOCITY =   3.333333
+MAX_ACCELERATION =  20.0
+       MIN_LIMIT = -10.0
+       MAX_LIMIT =  10.0
+ HOME_SEARCH_VEL =   5.0
+  HOME_LATCH_VEL =   1.0
+   HOME_SEQUENCE =   0
+
+[JOINT_1]
+            TYPE = LINEAR
+    MAX_VELOCITY =   3.333333
+MAX_ACCELERATION =  20.0
+       MIN_LIMIT =  -2.0
+       MAX_LIMIT =   4.0
+ HOME_SEARCH_VEL =   5.0
+  HOME_LATCH_VEL =   1.0
+   HOME_SEQUENCE =   1
+
+[PYTHON]
+# where to find Python code
+# code specific for this configuration  
+PATH_PREPEND= ./
+# generic support code
+PATH_APPEND= ../../nc_files/remap_lib/python-stdglue/
+
+# import the following Python module
+TOPLEVEL= toplevel.py
+
+# the higher the more verbose tracing of the Python plugin
+LOG_LEVEL = 0

configs/sim/axis/lathe-fanucy/lathe-fanucy.tbl

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+T1 P11 X0.1 Z0.1 D0.1 I95.000000 J155.000000 Q1 
+T2 P22 X0.2 Z0.2 D0.1 I85.000000 J25.000000 Q2 
+T10001 P3 X0.001 Z0.001 D0.1 I275.000000 J335.000000 Q3 
+T10002 P4 X0.002 Z0.002 D0.1 I265.000000 J205.000000 Q4 
+T5 P5 D0.1 I210.000000 J150.000000 Q5 
+T6 P6 X0.5 Z0.5 D0.1 I120.000000 J60.000000 Q6 
+T7 P7 D0.1 I-30.000000 J30.000000 Q7 
+T8 P8 D0.1 I240.000000 J300.000000 Q8 
+T9 P9 D0.1 Q9 
+T10 P10 D0 ;demo zero diameter 

configs/sim/axis/lathe-fanucy/remap.py

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+#   This is a component of LinuxCNC
+#   Copyright 2014 Andy Pugh <andy@bodgesoc.org>, Chris Radek
+#   <chris@timeguy.com>
+#
+#   This program is free software; you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation; either version 2 of the License, or
+#   (at your option) any later version.
+#
+#   This program is distributed in the hope that it will be useful,
+#   but WITHOUT ANY WARRANTY; without even the implied warranty of
+#   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#   GNU General Public License for more details.
+#
+#   You should have received a copy of the GNU General Public License
+#   along with this program; if not, write to the Free Software
+#   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+#
+from stdglue import *
+
+# Extract the T number into a parameter, but don't try anything else clever
+
+def get_T_number(self,**words):
+    try:
+        cblock = self.blocks[self.remap_level]
+        if not cblock.t_flag:
+            self.set_errormsg("T requires a tool number")
+            return INTERP_ERROR
+        self.params["tool"] = cblock.t_number
+        return INTERP_OK
+    except Exception as e:
+        self.set_errormsg("T%d/prepare_prolog: %s" % (int(words['t']), e))
+        return INTERP_ERROR

configs/sim/axis/lathe-fanucy/toolchange.ngc

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+O<toolchange> sub
+(debug, Tool requested = #<tool>)
+#<wear> = [10000 + FIX[ #<tool>  / 100]]
+#<tool> = [#<tool> MOD 100]
+M6 T#<tool>
+G43 H#<tool>
+O100 IF [#<wear> GT 10000]
+    G43.2 H#<wear>
+O100 ENDIF
+#<pocket> = #<tool>
+(debug, tool = #<tool> wear = #<wear>)
+O<toolchange> endsub [0]

configs/sim/axis/lathe-fanucy/toplevel.py

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+#   This is a component of LinuxCNC
+#   Copyright 2011, 2014 Andy Pugh <andy@bodgesoc.org>, Michael Haberler
+#   <git@mah.priv.at>
+#
+#   This program is free software; you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation; either version 2 of the License, or
+#   (at your option) any later version.
+#
+#   This program is distributed in the hope that it will be useful,
+#   but WITHOUT ANY WARRANTY; without even the implied warranty of
+#   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#   GNU General Public License for more details.
+#
+#   You should have received a copy of the GNU General Public License
+#   along with this program; if not, write to the Free Software
+#   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+#
+import remap
+
+