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Wang Dequan
2026-08-20 06:17:39 +08:00
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20
configs/sim/axis/spindle_orient/README Normal file
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The orient.ini configuration helps exploring the M19 command and its effect on various HAL pins.
Note the ORIENT_OFFSET value in orient.ini which is added to the R word.
run, and execute in MDI:
M19
M5
M19 R45 P1
S500 M3
Acknowledge an spindle-orient request by pushing the spindle-is-oriented button.
-mah

11
configs/sim/axis/spindle_orient/orient.hal Normal file
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#net orient-loop spindle.0.orient spindle.0.is-oriented
net orient spindle.0.orient gladevcp.spindle-orient-led
net oriented gladevcp.spindle-is-oriented spindle.0.is-oriented gladevcp.spindle-is-oriented-led
net locked spindle.0.locked gladevcp.spindle-locked-led
net angle spindle.0.orient-angle gladevcp.spindle-orient-angle
net brake spindle.0.brake gladevcp.spindle-brake-led
net fault gladevcp.spindle-orient-fault-s spindle.0.orient-fault

125
configs/sim/axis/spindle_orient/orient.ini Normal file
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[EMC]
VERSION = 1.1
MACHINE = M19-Orient-demo
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0
[DISPLAY]
DISPLAY = axis
GLADEVCP = orient.ui
CYCLE_TIME = 0.100
HELP_FILE = doc/help.txt
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0
MAX_LINEAR_VELOCITY = 1.2
DEFAULT_LINEAR_VELOCITY = .25
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
#EDITOR = geany
TOOL_EDITOR = tooledit
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
[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 = ../../nc_files/remap_lib/common_nc_subs
PARAMETER_FILE = sim.var
ORIENT_OFFSET = 42.0
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[HAL]
HALUI = halui
HALFILE = core_sim.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
POSTGUI_HALFILE = orient.hal
[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.2
POSITION_FILE = position.txt
MAX_LINEAR_VELOCITY = 1.2
NO_FORCE_HOMING = 1
[EMCIO]
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 1
[AXIS_Y]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 1
[AXIS_Z]
MIN_LIMIT = -8.0
MAX_LIMIT = 0.0001
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -8.0
MAX_LIMIT = 0.0001
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 0

195
configs/sim/axis/spindle_orient/orient.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!-- Generated with glade 3.40.0 -->
<interface>
<requires lib="gtk+" version="3.0"/>
<requires lib="gladevcp" version="0.0"/>
<object class="GtkAdjustment" id="fault-adj">
<property name="lower">-100</property>
<property name="upper">100</property>
<property name="step-increment">1</property>
<property name="page-increment">10</property>
</object>
<object class="GtkWindow" id="window1">
<property name="can-focus">False</property>
<child>
<object class="GtkFrame" id="frame1">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="label-xalign">0</property>
<property name="shadow-type">none</property>
<child>
<object class="GtkAlignment" id="alignment1">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="left-padding">12</property>
<child>
<object class="GtkTable" id="table1">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="n-rows">7</property>
<property name="n-columns">2</property>
<child>
<placeholder/>
</child>
<child>
<placeholder/>
</child>
<child>
<object class="HAL_LED" id="spindle-orient-led">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="led-blink-rate">0</property>
<property name="led-shape">2</property>
</object>
<packing>
<property name="left-attach">1</property>
<property name="right-attach">2</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="label2">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="label" translatable="yes">motion.spindle-orient:</property>
</object>
</child>
<child>
<object class="GtkLabel" id="label4">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="label" translatable="yes">motion.spindle-locked</property>
</object>
<packing>
<property name="top-attach">2</property>
<property name="bottom-attach">3</property>
</packing>
</child>
<child>
<object class="HAL_LED" id="spindle-is-oriented-led">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="led-blink-rate">0</property>
<property name="led-shape">2</property>
</object>
<packing>
<property name="left-attach">1</property>
<property name="right-attach">2</property>
<property name="top-attach">1</property>
<property name="bottom-attach">2</property>
</packing>
</child>
<child>
<object class="HAL_Button" id="spindle-is-oriented">
<property name="label" translatable="yes">motion.spindle-is-oriented:</property>
<property name="visible">True</property>
<property name="can-focus">True</property>
<property name="receives-default">True</property>
</object>
<packing>
<property name="top-attach">1</property>
<property name="bottom-attach">2</property>
<property name="x-options"/>
<property name="y-options"/>
<property name="x-padding">4</property>
<property name="y-padding">4</property>
</packing>
</child>
<child>
<object class="HAL_LED" id="spindle-locked-led">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="led-blink-rate">0</property>
<property name="led-shape">2</property>
</object>
<packing>
<property name="left-attach">1</property>
<property name="right-attach">2</property>
<property name="top-attach">2</property>
<property name="bottom-attach">3</property>
</packing>
</child>
<child>
<object class="HAL_Label" id="spindle-orient-angle">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="label-pin-type">1</property>
<property name="text-template">motion.spindle-orient-angle: %f</property>
</object>
<packing>
<property name="right-attach">2</property>
<property name="top-attach">3</property>
<property name="bottom-attach">4</property>
</packing>
</child>
<child>
<object class="HAL_LED" id="spindle-brake-led">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="led-blink-rate">0</property>
<property name="led-shape">2</property>
</object>
<packing>
<property name="left-attach">1</property>
<property name="right-attach">2</property>
<property name="top-attach">5</property>
<property name="bottom-attach">6</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="label5">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="label" translatable="yes">motion.spindle-brake:</property>
</object>
<packing>
<property name="top-attach">5</property>
<property name="bottom-attach">6</property>
</packing>
</child>
<child>
<object class="HAL_SpinButton" id="spindle-orient-fault">
<property name="visible">True</property>
<property name="can-focus">True</property>
<property name="invisible-char">●</property>
<property name="adjustment">fault-adj</property>
</object>
<packing>
<property name="left-attach">1</property>
<property name="right-attach">2</property>
<property name="top-attach">6</property>
<property name="bottom-attach">7</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="label6">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="label" translatable="yes">motion.spindle-orient-fault:</property>
</object>
<packing>
<property name="top-attach">6</property>
<property name="bottom-attach">7</property>
</packing>
</child>
</object>
</child>
</object>
</child>
<child type="label">
<object class="GtkLabel" id="label1">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="label" translatable="yes">&lt;b&gt;M19-related pins&lt;/b&gt;</property>
<property name="use-markup">True</property>
</object>
</child>
</object>
</child>
</object>
<object class="GtkAdjustment" id="level-adj">
<property name="upper">100</property>
<property name="step-increment">1</property>
<property name="page-increment">10</property>
<property name="page-size">10</property>
</object>
</interface>

1
configs/sim/axis/spindle_orient/sim.tbl Symbolic link
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../../sim.tbl