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Wang Dequan
18
configs/sim/axis/lathe_multispindle/README
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18
configs/sim/axis/lathe_multispindle/README
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This is a simulation of a 2-spindle lathe to demonstrate the multispindle patch.
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up to 8 spindles are supported, set by [TRAJ]SPINDLES in the INI and a
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num_spindles modparam to motmod. These _must_ agree with each other.
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Most spindle-related commands now take an extra "$" word to say which spindle
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to apply them to.
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Examples
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S1000 $1 - set the speed of spindle 1 to 1000
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M3 S100 $0 - set the speed of spindle 0 to 100
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G33 X10 K1.5 $1 - make a move synchronised to spindle 1.
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G33.2 Z-1 K1 $0 - rigid tap synchronised to spindle 0.
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M51 P0 $6 - disable speed override on spindle 6. M48 and M49 operate on all.
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51
configs/sim/axis/lathe_multispindle/core_sim.hal
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51
configs/sim/axis/lathe_multispindle/core_sim.hal
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# core HAL config file for simulation
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# first load all the RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from ini file
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
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# load 6 differentiators (for velocity and accel signals
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loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
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# load additional blocks
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loadrt hypot names=vel_xy,vel_xyz
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# add motion controller functions to servo thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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# link the differentiator functions into the code
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addf ddt_x servo-thread
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addf ddt_xv servo-thread
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addf ddt_y servo-thread
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addf ddt_yv servo-thread
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addf ddt_z servo-thread
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addf ddt_zv servo-thread
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addf vel_xy servo-thread
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addf vel_xyz servo-thread
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# create HAL signals for position commands from motion module
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# loop position commands back to motion module feedback
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net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
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net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
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net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
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# send the position commands thru differentiators to
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# generate velocity and accel signals
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net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
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net Xacc <= ddt_xv.out
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net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
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net Yacc <= ddt_yv.out
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net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
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net Zacc <= ddt_zv.out
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# Cartesian 2- and 3-axis velocities
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net XYvel vel_xy.out => vel_xyz.in1
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net XYZvel <= vel_xyz.out
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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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109
configs/sim/axis/lathe_multispindle/lathe.hal
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109
configs/sim/axis/lathe_multispindle/lathe.hal
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# counting the spindle encoder in software
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loadrt encoder names=encoder_0,encoder_1
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# simulate the encoder
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loadrt sim_encoder names=sim_encoder_0,sim_encoder_1
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loadrt limit2 names=limit_speed
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addf limit_speed servo-thread
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#######################################################
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# Beginning of threading related stuff
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#######################################################
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# spindle speed control
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net spindle.0.cmd spindle.0.speed-out => sim_encoder_0.speed
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net spindle.1.cmd spindle.1.speed-out => sim_encoder_1.speed
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# simulate spindle mass
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setp limit_speed.maxv 500.0 # rpm/second
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# spindle encoder 0
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# connect encoder signals to encoder counter
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net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
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net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
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net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z
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# assume 120 ppr = 480 counts/rev for the spindle
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setp sim_encoder_0.ppr 120
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# iocontrol output is in rpm, but sim-encoder speed is rps
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setp sim_encoder_0.scale 60
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# scale encoder output to read in revolutions
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# (that way thread pitches can be straightforward,
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# a 20 tpi thread would multiply the encoder output
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# by 1/20, etc)
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setp encoder_0.position-scale 480
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# encoder reset control
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# hook up motion controller's sync output
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net spindle-index-enable spindle.0.index-enable <=> encoder_0.index-enable
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# report our revolution count to the motion controller
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net spindle.0.pos encoder_0.position => spindle.0.revs
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# spindle encoder 1
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# connect encoder signals to encoder counter
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net spindle-phase-A1 sim_encoder_1.phase-A => encoder_1.phase-A
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net spindle-phase-B1 sim_encoder_1.phase-B => encoder_1.phase-B
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net spindle-phase-Z1 sim_encoder_1.phase-Z => encoder_1.phase-Z
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# assume 120 ppr = 480 counts/rev for the spindle
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setp sim_encoder_1.ppr 120
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# iocontrol output is in rpm, but sim-encoder speed is rps
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setp sim_encoder_1.scale 60
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# scale encoder output to read in revolutions
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# (that way thread pitches can be straightforward,
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# a 20 tpi thread would multiply the encoder output
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# by 1/20, etc)
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setp encoder_1.position-scale 480
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# encoder reset control
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# hook up motion controller's sync output
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net spindle-index-enable spindle.1.index-enable <=> encoder_0.index-enable
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# report our revolution count to the motion controller
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net spindle.1.pos encoder_1.position => spindle.1.revs
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# for spindle velocity estimate
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loadrt lowpass names=lowpass_velocity.0,lowpass_velocity.1
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loadrt scale names=scale_to_rpm.0,scale_to_rpm.1
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net spindle-rps-raw.0 encoder_0.velocity lowpass_velocity.0.in
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net spindle-rps-filtered.0 lowpass_velocity.0.out scale_to_rpm.0.in spindle.0.speed-in
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net spindle-rpm-filtered.0 scale_to_rpm.0.out
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setp scale_to_rpm.0.gain 60
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setp lowpass_velocity.0.gain .07
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addf lowpass_velocity.0 servo-thread
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addf scale_to_rpm.0 servo-thread
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net spindle-rps-raw.1 encoder_1.velocity lowpass_velocity.1.in
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net spindle-rps-filtered.1 lowpass_velocity.1.out scale_to_rpm.1.in spindle.1.speed-in
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net spindle-rpm-filtered.1 scale_to_rpm.1.out
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setp scale_to_rpm.1.gain 60
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setp lowpass_velocity.1.gain .07
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addf lowpass_velocity.1 servo-thread
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addf scale_to_rpm.1 servo-thread
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# for at-speed detection
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loadrt near names=near_speed.0,near_speed.1
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addf near_speed.0 servo-thread
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setp near_speed.0.scale 1.1
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setp near_speed.0.difference 10
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net spindle.0.cmd => near_speed.0.in1
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net spindle-rpm-filtered.0 => near_speed.0.in2
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net spindle-at-speed.0 near_speed.0.out spindle.0.at-speed
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net spindle.0-fwd <= spindle.0.forward
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addf near_speed.1 servo-thread
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setp near_speed.1.scale 1.1
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setp near_speed.1.difference 10
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net spindle.1.cmd => near_speed.1.in1
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net spindle-rpm-filtered.1 => near_speed.1.in2
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net spindle-at-speed.1 near_speed.1.out spindle.1.at-speed
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net spindle.1-fwd <= spindle.1.forward
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addf encoder.capture-position servo-thread
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addf sim-encoder.update-speed servo-thread
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addf sim-encoder.make-pulses base-thread
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addf encoder.update-counters base-thread
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195
configs/sim/axis/lathe_multispindle/lathe.ini
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195
configs/sim/axis/lathe_multispindle/lathe.ini
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# EMC controller parameters for a simulated machine.
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# General note: Comments can either be preceded with a # or ; - either is
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# acceptable, although # is in keeping with most linux config files.
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# General section -------------------------------------------------------------
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[EMC]
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# Version of this INI file
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VERSION = 1.1
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# Name of machine, for use with display, etc.
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MACHINE = LinuxCNC-HAL-SIM-LATHE
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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# DEBUG = 0x7FFFFFFF
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DEBUG = 0
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# Sections for display options ------------------------------------------------
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[DISPLAY]
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# Name of display program, e.g., xlinuxcnc
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DISPLAY = axis
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PYVCP = lathe.xml
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LATHE = 1
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#EDITOR = geany
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.100
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# Path to help file
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HELP_FILE = doc/help.txt
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# Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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# Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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# Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 1.2
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MAX_SPINDLE_OVERRIDE = 1.0
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# Prefix to be used
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PROGRAM_PREFIX = ../../nc_files
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OPEN_FILE = ../../nc_files/examples/lathe_pawn.ngc
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# Introductory graphic
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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USER_COMMAND_FILE = ~/.axisrc
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode
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gif = image-to-gcode
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jpg = image-to-gcode
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py = python3
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# Task controller section -----------------------------------------------------
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = sim-lathe.var
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# Motion control section ------------------------------------------------------
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[EMCMOT]
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EMCMOT = motmod
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# Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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# Interval between tries to emcmot, in seconds
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COMM_WAIT = 0.010
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# Base task period, in nano-seconds - this is the fastest thread in the machine
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BASE_PERIOD = 50000
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# Servo task period, in nano-seconds - will be rounded to an integer multiple
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# of BASE_PERIOD
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SERVO_PERIOD = 1000000
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# Hardware Abstraction Layer section --------------------------------------------------
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[TASK]
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# Name of task controller program, e.g., milltask
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TASK = milltask
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# Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.001
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# Part program interpreter section --------------------------------------------
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[HAL]
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# The run script first uses halcmd to execute any HALFILE
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# files, and then to execute any individual HALCMD commands.
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#
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# list of hal config files to run through halcmd
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# files are executed in the order in which they appear
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HALFILE = core_sim.hal
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HALFILE = axis_manualtoolchange.hal
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HALFILE = simulated_home.hal
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HALFILE = lathe.hal
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# list of halcmd commands to execute
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# commands are executed in the order in which they appear
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#HALCMD = save neta
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# Single file that is executed after the GUI has started. Only supported by
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# AXIS at this time (only AXIS creates a HAL component of its own)
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POSTGUI_HALFILE = lathe_postgui.hal
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[TRAJ]
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SPINDLES = 2
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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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CYCLE_TIME = 0.010
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DEFAULT_VELOCITY = 1.0
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MAX_LINEAR_VELOCITY = 3.333334
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DEFAULT_ACCELERATION = 20.0
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MAX_ACCELERATION = 20.0
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NO_FORCE_HOMING = 1
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# Axes sections ---------------------------------------------------------------
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# First axis
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[EMCIO]
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# tool table file
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TOOL_TABLE = lathe.tbl
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TOOL_CHANGE_POSITION = 2 0 1
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TOOL_CHANGE_WITH_SPINDLE_ON = 1
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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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 = 3.333334
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MAX_ACCELERATION = 20.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 3.333334
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MAX_ACCELERATION = 20.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 1.0
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HOME_SEARCH_VEL = 5.0
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HOME_LATCH_VEL = 1.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 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 = 3.333334
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MAX_ACCELERATION = 20.0
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[JOINT_1]
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# JOINT_1: not used, home immediately:
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HOME_SEARCH_VEL = 0
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HOME_LATCH_VEL = 0
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HOME_USE_INDEX = NO
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HOME_SEQUENCE = 0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 3.333334
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MAX_ACCELERATION = 20.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 1.0
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HOME_SEARCH_VEL = 5.0
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HOME_LATCH_VEL = 1.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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# section for main IO controller parameters -----------------------------------
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31
configs/sim/axis/lathe_multispindle/lathe.xml
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31
configs/sim/axis/lathe_multispindle/lathe.xml
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@@ -0,0 +1,31 @@
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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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<vbox>
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<label>
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<text>"Spindle 0 speed:"</text>
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</label>
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<bar>
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<halpin>"spindle.0.speed"</halpin>
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<max_>5000</max_>
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</bar>
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<hbox>
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<led halpin="spindle.0.at-speed" on_color="yellow" off_color="black"/>
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<label text="At Speed"/>
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</hbox>
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</vbox>
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<vbox>
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<label>
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<text>"Spindle 1 speed:"</text>
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</label>
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<bar>
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<halpin>"spindle.1.speed"</halpin>
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<max_>5000</max_>
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</bar>
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<hbox>
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<led halpin="spindle.1.at-speed" on_color="yellow" off_color="black"/>
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<label text="At Speed"/>
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</hbox>
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</vbox>
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</vbox>
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</pyvcp>
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4
configs/sim/axis/lathe_multispindle/lathe_postgui.hal
Normal file
4
configs/sim/axis/lathe_multispindle/lathe_postgui.hal
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net spindle-rpm-filtered.0 => pyvcp.spindle.0.speed
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net spindle-at-speed.0 => pyvcp.spindle.0.at-speed
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net spindle-rpm-filtered.1 => pyvcp.spindle.1.speed
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net spindle-at-speed.1 => pyvcp.spindle.1.at-speed
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