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259
configs/sim/axis/xhc-hb04/README Normal file
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These sim configurations demonstrate use of an XHC-HB04 wireless MPG pendant in LinuxCNC using a HAL module created by Frederic Rible (frible@teaser.fr) (Copyright (C) 2013). Ref:
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Using_A_XHC-HB04_Wireless_MPG_Pendant
The HAL module is designed for the XHC-HB04 V3.0 identified as USB device 10CE:EB70.
Most of the pendant features are handled:
- buttons converted to hal pins
- jog wheel with variable scale (use stepsize-up or stepsize-down pin to change in sequence)
- sequences provided include:
(0.001,0.010,0.100,1.000) typ for mm-base machine
(0.001,0.005,0.010,0.020) typ for inch-base machine
- LCD screen displays machine and relative positions
Sim configurations are provided for two known button configurations:
layout1 -- 16 buttons
layout2 -- 18 buttons (more common)
The button names are defined in the files LIB:xhc-hb04-layout*.cfg in a stanza labeled XHC-HB04 with definitions as BUTTON=XX:name where XX is a hexadecimal code used by the device.
Example:
[XHC-HB04]
BUTTON=01:button-stop
BUTTON=03:button-rewind
...
A hal pin (Type=bit, Dir=OUT) is created for each button, for example:
xhc-hb04.button-stop
xhc-hb04.button-rewind
...
If the configuration file includes buttons named:
button-zero
button-goto-zero
button-half
then the driver creates additional buttons for these that are active only if the joint is selected by the rotary switch. These synthesized buttons are:
button-zero-x
button-zero-y
button-zero-z
button-zero-a
button-goto-zero-x
button-goto-zero-y
button-goto-zero-z
button-goto-zero-a
button-half-x
button-half-y
button-half-z
button-half-a
As with real buttons, the synthesized buttons have hal pins named:
xhc-hb04.button-zero-x
xhc-hb04.button-zero-y
etc.
Additional hal pins are created by the xhc-hb04 driver and connected as required by the halfile included for the demo configurations.
A working and connected xhc-hb04 device is required for the demonstration configurations. If not connected, the sim configs will start without pendant functionality.
----------------------------------
A udev rules file is needed to give correct permissions for USB access. With a deb install, the rules file is installed as /lib/udev/rules.d/99-xhc.rules
If using a Run-In-Place (RIP) build, create a file in the location for user-installed rules: /etc/udev/rules.d/99-xhc.rules and include a rule to specify the applicable product and vendor codes and allows both read and write access to the user.
Example udev rule:
ATTR{idProduct}=="eb70", ATTR{idVendor}=="10ce", MODE="0666", OWNER="root", GROUP="plugdev"
This rule uses mode 0666 to provide read and write access to owner,group,world -- e.g., everyone.
----------------------------------
The sim configurations use a single halfile: LIB:xhc-hb04.tcl. This halfile uses a custom comp file (xhc_hb04_util.comp) and can be added to existing configurations by adding an ini file entry for:
[HAL]HALFILE = LIB:xhc-hb04.tcl
This HALFILE entry should follow other HALFILE entries.
Optional configuration ini file items and the defaults values are:
[XHC_HB04_CONFIG]
threadname = servo-thread (optional, default: servo-thread)
layout = 2 (optional, 1: 16 buttons | 2: 18 buttons, default: 2)
coords = x y z a (optional, 4 max, default: x y z a)
coefs = 1 1 1 1 (optional, filter coefs 0 < coef < 1, default: 1 1 1 1)
mpg_accels = 1 2 2 200 (optional: reduced accelerations for jogging)
(in machine_units/sec/sec like:)
( [AXIS_L]MAX_ACCELERATION,[JOINT_n]MAX_ACCELERATION)
scales = 1 1 1 1 (optional, plus/minus factors, default: 1 1 1 1)
require_pendant = yes (optional, yes | no, default: yes)
inch_or_mm = in (optional, in | mm for display icon, default: mm)
jogmode = normal (optional, normal | vnormal default: normal)
sequence = 1 (optional, 1 | 2 | 3 | 4 | 5, default: 1)
1: 0.001,0.010,0.100,1.000 (typ for mm machine)
2: 0.001,0.005,0.010,0.020 (typ for inch machine)
3: 0.001,0.010,0.100
4: 0.001,0.005,0.010,0.020,0.050,0.100
5: 0.001,0.010,0.050,0.100,1.000
The filter coefs can be used to slow the response to wheel steps but are usually not needed since the xhc-hb04 component implements smoothing.
The movement per wheel increment is normally controlled by connecting the STEP button to the hal pin xhc-hb04.stepsize-up (or xhc-hb04.stepsize-down). Each press of the STEP button will cause the wheel increment to increase according to the sequence specified. The sequence starts over after the maximum value is reached.
The scale factor for each joint can be set with the scales item.
When require_pendant = no, the xhc-hb04 hal pins will be created even if the pendant is not connected at startup. A new connection, a disconnect, and a reconnect are supported.
----------------------------------
jogmodes:
normal: position mode, the joint will move exactly regardless of how long it takes. Beware: the machine may keep moving after you stop rotating the jog wheel.
vnormal: velocity mode, the joint will stop when the wheel stops. Beware: the amount moved per wheel detent may be less than specified if the machine velocity and acceleration cannot accomplish the move in time.
----------------------------------
sequence: Typically use 1 for mm-based machine, 2 for inch-based machine
----------------------------------
Pendant buttons are connected to hal pins with ini file items.
Examples:
[XHC_HB04_BUTTONS]
stop = halui.program.stop
goto-zero = halui.mdi-command-00
step = xhc-hb04.stepsize-up
rewind = halui.program.step
macro-1 = halui.mdi-command-01
mode = "" (placeholder)
With the above items, connections are made as:
Signal_name Source pin Destination pin
----------------- ---------------------------- ------------------------
pendant:stop <== xhc-hb04.button-stop ==> halui.program.stop
pendant:goto-zero <== xhc-hb04.button-goto-zero ==> halui.mdi-command-00
pendant:step <== xhc-hb04.button-step ==> xhc-hb04.stepsize-up
etc ...
Note: halui MDI commands are defined in a [HALUI] stanza:
[HALUI]
MDI_COMMAND = G0 X0 Y0 Z0
MDI_COMMAND = M101
The commands are assigned to pins (Type=bit, Dir=IN) named halui.mdi-command-nn where
nn corresponds to their ordered appearance beginning with nn=00. (man halui for more information)
----------------------------------
A application named monitor-xhc-hb04 is included to monitor disconnects and reconnects of the pendant. This script runs in the background and will pop up a message when the pendant is disconnected or reconnected. Usage is optional; if used it is specified with ini file entry:
[APPLICATIONS]APP = monitor-xhc-hb04
(Note: when using require_pendant=1, disconnects are detected but reconnects are not supported)
----------------------------------
See the manpage for xhc-hb04 for details on the xhc-hb04 component
----------------------------------
The demo ini files are examples using the axis gui in a simulator configuration.
These files use #INCLUDE directives to include files for the basic machine
and for the pendant layout.
For example, the organization for the xhc-hb04-layout2.ini file is:
#INCLUDE inch_base.inc | Conventional items for an inch based sim
#INCLUDE layout2.inc | All button items ([XHC_HB04_BUTTONS],[HALUI])
[EMC] | Machine identifier
MACHINE = |
[HAL] | HAL items
HALFILE = |
... |
HALFILE = |
HALFILE = LIB:xhc-hb04.tcl | xhc-hb04 configuration script
HALUI = halui | Halui specifier
[XHC_HB04_CONFIG] | All config items used by LIB:xhc-hb04.tcl
layout = |
coords = |
coefs = |
scales = |
jogmode = |
sequence = |
require_pendant = |
inch_or_mm = |
mpg_accels = |
[APPLICATIONS] | Optional auxiliary scripts
APP = monitor-xhc-hb04 | Connection monitor script
----------------------------------
Adding an xhc-hb04 to an existing configuration.
Recommended procedure is to create a new configuration based on an existing configuration.
Copy all files from an existing (working) configuration directory
to a new directory and edit the configuration ini file to:
a) add [HAL]HALFILE = LIB:xhc-hb04.tcl
(this entry should follow other HALFILE entries)
b) (optional) add [APPLICATIONS]APP = monitor-xhc-hb04
to monitor disconnects/connects of pendant
c) add stanza [XHC_HB04_CONFIG] to configure pendant
d) include stanzas [XHC_HB04_BUTTONS] and [HALUI] to
define button actions (these may be in a separate
#INCLUDE file -- see the demo examples)
The entries in the new or updated stanzas should be customized for your machine.
----------------------------------
Note: For identity kinematics (trivkins), the LIB:xhc-hb04.tcl script connects
axis and joint pins having a one-to-one correspondence to support jogging
in both joint and teleop motion modes.
For unknown kinematics (e.g., non-identity kinematics), the LIB:xhc-hb04
script connects the axis coordinate specified by:
[XHC_HB04_CONFIG]coords=
for world mode (teleop) jogging. No connections are made for joint
mode jogging of individual joints.
If wheel jogging for joints in joint motion mode is wanted for configs with
non-identity kinematics, use additional Hal connections to connect the
appropriate joint jog pins.
Example: non-identity kinematics having a rotary axis (c) that has a
one-to-one correspondence to a single joint (3). The LIB:xhc-hb04.tcl
script makes Hal connections for axis c as:
pendant:jog-c <= xhc-hb04.jog.enable-a
=> axis.c.jog-enable
pendant:jog-scale <= pendant_util.divide-by-k-out
=> axis.c.jog-scale
pendant:wheel-counts-c-filtered <= pendant_util.out3
=> axis.c.jog-counts
To add joint jogging for joint 3 (with scaling identical to world scaling),
add supplemental hal commands:
net pendant:jog-c => joint.3.jog-enable
net pendant:jog-scale => joint.3.jog-scale
net pendant:wheel-counts-c-filtered => joint.3.jog-counts
These connections could be added in an additional [HAL]HALFILE= or
by using [HAL]HALCMD= lines in the ini file
Similar connections could be made for other joints having a one-to-one
correspondence to an axis coordinate.
For joints having no direct correspondence to an axis coordinate, joint jog pin
connections can be made as in the example above but altered connections may be
required for proper scaling. Make the joint jog pin connections using an axis
coord letter for a position of the pendant rotary axis selector switch. The
joint jogging will occur for that switch position when LinuxCNC is in joint
motion mode.
----------------------------------
Notes:
1) In earlier versions of xhc-hb04.tcl, mpg_accels used a helper
script (xhc-hb04-accels) to multiplex reduced accel values during
world mode jogging.
The current implementation uses pins now provided by the motion
module:
axis.L.jog-accel-fraction
joint.N.jog-accel-fraction
2) Support for spindle override is supported using the
halui pins: halui.spindle.0.override.* as applicable to
default single spindle usage.

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[DISPLAY]
DISPLAY = axis
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
EDITOR = geany
GEOMETRY = XYZABCUVW
INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 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
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
PARAMETER_FILE = sim-9axis.var
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
# for demo of M110:
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[EMCIO]
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 2
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.2
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
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.2
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
[AXIS_Z]
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_SEQUENCE = 0
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0

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configs/sim/axis/xhc-hb04/inch_trivkins.inc Normal file
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[TRAJ]
NO_FORCE_HOMING = 1
COORDINATES = X Y Z C
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.0
DEFAULT_ANGULAR_VELOCITY = 45.0
POSITION_FILE = position9.txt
MAX_LINEAR_VELOCITY = 1.2
MAX_ANGULAR_VELOCITY = 90.0
[KINS]
KINEMATICS = trivkins coordinates=xyzc
JOINTS = 4

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configs/sim/axis/xhc-hb04/layout1.inc Normal file
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[XHC_HB04_BUTTONS]
# use button names according to layout file LIB:xhc-hb04-layout{n}.cfg
# note: "start-pause" is connected for standard behavior
# controlling halui.pause/halui.resume/halui.run
# these are examples, edit as required:
stop = halui.program.stop
start-pause = std_start_pause
rewind = halui.program.step
safe-z = halui.mdi-command-01
# in this sim, home-all only works first time, hold down till finished:
home = halui.home-all
x2 = halui.mdi-command-02
y2 = halui.mdi-command-03
# probe-input for simulating a probe:
probe-z = motion.probe-input
x0 = halui.mdi-command-04
y0 = halui.mdi-command-05
z0 = halui.mdi-command-06
goto-zero = halui.mdi-command-00
# synthesized per-axis buttons for goto-zero button:
goto-zero-x = ""
goto-zero-y = ""
goto-zero-z = ""
goto-zero-a = ""
step = xhc-hb04.stepsize-up
mode = ""
spindle = ""
reset = halui.estop.activate
[HALUI]
# these are examples, edit as required:
# a halui hal pin is created for each MDI_COMMAND below
# halui.mdi-command-00, halui.mdi-command-01,... etc
MDI_COMMAND=G0 X0 Y0 Z0
MDI_COMMAND=(debug, example: mdi-01)
MDI_COMMAND=(debug, example: mdi-02)
#03 M110: clears notifications
MDI_COMMAND=M110
MDI_COMMAND=(debug, example: mdi-04)
MDI_COMMAND=(debug, example: mdi-05)
MDI_COMMAND=(debug, example: mdi-06)
#07 M101: example print to stdout
MDI_COMMAND=M101
MDI_COMMAND=(debug, example: mdi-08)
MDI_COMMAND=(debug, example: mdi-09)
MDI_COMMAND=(debug, example: mdi-10)
MDI_COMMAND=(debug, example: mdi-11)
MDI_COMMAND=(debug, example: mdi-12)
MDI_COMMAND=(debug, example: mdi-13)
MDI_COMMAND=(debug, example: mdi-14)
MDI_COMMAND=(debug, example: mdi-15)

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configs/sim/axis/xhc-hb04/layout2.inc Normal file
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[XHC_HB04_BUTTONS]
# use button names according to layout file LIB:xhc-hb04-layout{n}.cfg
# note: "start-pause" is connected for standard behavior
# controlling halui.pause/halui.resume/halui.run
# these are examples, edit as required:
goto-zero = halui.mdi-command-00
# synthesized per-axis buttons for goto-zero button:
goto-zero-x = ""
goto-zero-y = ""
goto-zero-z = ""
goto-zero-a = ""
start-pause = std_start_pause
rewind = halui.program.step
# probe-input for simulating a probe:
probe-z = motion.probe-input
macro-3 = halui.mdi-command-03
half = halui.spindle.0.stop
# synthesized per-axis buttons for half button:
half-x = ""
half-y = ""
half-z = ""
half-a = ""
zero = ""
# synthesized per-axis buttons for zero button:
zero-x = halui.mdi-command-12
zero-y = halui.mdi-command-13
zero-z = halui.mdi-command-14
zero-a = halui.mdi-command-15
safe-z = halui.mdi-command-10
# in this sim, home-all only works first time, hold down till finished:
home = halui.home-all
macro-1 = halui.mdi-command-01
macro-2 = halui.mdi-command-02
spindle = halui.spindle.0.start
step = xhc-hb04.stepsize-up
mode = ""
macro-6 = halui.mdi-command-06
macro-7 = halui.mdi-command-07
stop = halui.program.stop
reset = halui.estop.activate
[HALUI]
# these are examples, edit as required:
# a halui hal pin is created for each MDI_COMMAND below
# halui.mdi-command-00, halui.mdi-command-01,... etc
MDI_COMMAND=G0 X0 Y0 Z0
MDI_COMMAND=(debug, example: mdi-01)
MDI_COMMAND=(debug, example: mdi-02)
#03 M110: clears notifications
MDI_COMMAND=M110
MDI_COMMAND=(debug, example: mdi-04)
MDI_COMMAND=(debug, example: mdi-05)
MDI_COMMAND=(debug, example: mdi-06)
#07 M101: example print to stdout
MDI_COMMAND=M101
MDI_COMMAND=(debug, example: mdi-08)
MDI_COMMAND=(debug, example: mdi-09)
MDI_COMMAND=(debug, example: mdi-10)
MDI_COMMAND=(debug, example: mdi-11)
#12
MDI_COMMAND= G10 L20 P0 X0
#13
MDI_COMMAND= G10 L20 P0 Y0
#14
MDI_COMMAND= G10 L20 P0 Z0
#15
MDI_COMMAND= G10 L20 P0 C0

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configs/sim/axis/xhc-hb04/mm_base.inc Normal file
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[DISPLAY]
DISPLAY = axis
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
EDITOR = geany
GEOMETRY = XYZABCUVW
INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 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
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
PARAMETER_FILE = sim-9axis.var
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
# for demo of M110:
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[EMCIO]
TOOL_TABLE = sim_mm.tbl
TOOL_CHANGE_POSITION = 0 0 2
[AXIS_X]
MIN_LIMIT = -254
MAX_LIMIT = 254
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
MIN_LIMIT = -254
MAX_LIMIT = 254
HOME_SEARCH_VEL = 127
HOME_LATCH_VEL = 25.4
HOME_SEQUENCE = 1
[AXIS_Y]
MIN_LIMIT = -254
MAX_LIMIT = 254
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
MIN_LIMIT = -254
MAX_LIMIT = 254
HOME_SEARCH_VEL = 127
HOME_LATCH_VEL = 25.4
HOME_SEQUENCE = 1
[AXIS_Z]
MIN_LIMIT = -50.8
MAX_LIMIT = 101.6
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
MIN_LIMIT = -50.8
MAX_LIMIT = 101.6
HOME_SEARCH_VEL = 127
HOME_LATCH_VEL = 25.4
HOME_SEQUENCE = 0
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 1

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configs/sim/axis/xhc-hb04/mm_trivkins.inc Normal file
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[TRAJ]
NO_FORCE_HOMING = 1
COORDINATES = X Y Z C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.0
DEFAULT_ANGULAR_VELOCITY = 45.0
POSITION_FILE = position9.txt
MAX_LINEAR_VELOCITY = 1.2
MAX_ANGULAR_VELOCITY = 90.0
[KINS]
KINEMATICS = trivkins
JOINTS = 4

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configs/sim/axis/xhc-hb04/sim.tbl Symbolic link
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../../sim.tbl

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configs/sim/axis/xhc-hb04/sim_mm.tbl Symbolic link
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../../sim_mm.tbl

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configs/sim/axis/xhc-hb04/xhc-hb04-layout1.ini Normal file
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#INCLUDE inch_base.inc
#INCLUDE inch_trivkins.inc
#INCLUDE layout1.inc
[EMC]
VERSION = 1.1
MACHINE = xhc-hb04 layout1 demo
[HAL]
HALFILE = LIB:basic_sim.tcl
HALFILE = LIB:xhc-hb04.tcl
HALUI = halui
[XHC_HB04_CONFIG]
# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
layout = 1
# coords: specify upto 4 letters from set {x y z a b c u v w}
# coords: switch labels are xyza but any unique 4 letters
# from the set {xyxabcuvw) can be used (if the coord exists)
coords = x y z c
# lowpass settings:
# coef: slows rate of change of output, range: 0 < coef < 1
coefs = 1 1 1 1
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 -1 1 1
# jogmode normal(default) or vnormal
jogmode = normal
# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
# sequence 3: 0.001,0.010,0.100
# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
# sequence 5: 0.001,0.010,0.050,0.100,1.000
sequence = 2
# require_pendant = yes|no: create xhc-hb04 hal pins when pendant not
# connected at startup
require_pendant = no
# inch_or_mm = in | mm
inch_or_mm = in
# mpg_accels: provision for reduced acceleration for manual mode jogging
mpg_accels = 1 2 20 600
[APPLICATIONS]
APP = monitor-xhc-hb04

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configs/sim/axis/xhc-hb04/xhc-hb04-layout1.txt Normal file
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xhc-hb04-layout1
16 buttons:
---------------------------------------
|RESET | |
---------------------------------------
|Stop |Start/Pause|Rewind |Probe-Z |
---------------------------------------
|GotoZero| X2 | Y2 |Safe-Z |
---------------------------------------
| X=0 | Y=0 | Z=0 | Home |
---------------------------------------
|STEP | Mode |Spindle| |
---------------------------------------
| Off |
| X |
| Y |
| Rotary -------> Z |
| Switch A |
| Spindle |
| Feed |
---------------------------------------
Button codes defined in LIB:xhc-hb04-layout1.cfg
The Start/Pause button can be connected for standard behavior with:
[XHC_HB04_BUTTON]start-pause = std_start_pause
The STEP button is normally connected with:
[XHC_HB04_BUTTON]step = xhc-hb04.stepsize-up
The other buttons can be connected to hal pins -- typically halui provided pins.
MDI commands can be executed using halui.mdi-command-nn pins defined in the ini file with entries like: [HALUI]MDI_COMMAND = mdi_command
The rotary switch selects the axis, spindle.0, or feedoverride for control by the jogwheel.
The switch positions (xyza) can be defined to any available axis (xyzc for instance).

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configs/sim/axis/xhc-hb04/xhc-hb04-layout1_es.txt Normal file
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xhc-hb04-layout1
16 botones:
---------------------------------------
|RESET | |
---------------------------------------
|Stop |Start/Pause|Rewind |Probe-Z |
---------------------------------------
|GotoZero| X2 | Y2 |Safe-Z |
---------------------------------------
| X=0 | Y=0 | Z=0 | Home |
---------------------------------------
|STEP | Mode |Spindle| |
---------------------------------------
| Off |
| X |
| Y |
| Rotary -------> Z |
| Switch A |
| Spindle |
| Feed |
---------------------------------------
Button codes defined in LIB:xhc-hb04-layout1.cfg
El botón Start/Pause se puede conectar para un comportamiento estándar con:
[XHC_HB04_BUTTON]start-pause = std_start_pause
El botón STEP normalmente está conectado con:
[XHC_HB04_BUTTON]step = xhc-hb04.stepsize-up
Los otros botones se pueden conectar a los pines hal, típicamente pines provistos de halui.
Los comandos MDI se pueden ejecutar usando los pines halui.mdi-command-nn definidos en el archivo ini con entradas como: [HALUI]MDI_COMMAND = mdi_command
El interruptor giratorio selecciona el eje, el spindle.0 o el ajuste de velocidad para el control mediante la rueda.
Las posiciones del interruptor (xyza) se pueden definir para cualquier eje disponible (xyzc, por ejemplo).

43
configs/sim/axis/xhc-hb04/xhc-hb04-layout2.ini Normal file
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#INCLUDE inch_base.inc
#INCLUDE inch_trivkins.inc
#INCLUDE layout2.inc
[EMC]
VERSION = 1.1
MACHINE = xhc-hb04 layout2 demo
[HAL]
HALFILE = LIB:basic_sim.tcl
HALFILE = LIB:xhc-hb04.tcl
HALUI = halui
[XHC_HB04_CONFIG]
# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
layout = 2
# coords: specify upto 4 letters from set {x y z a b c u v w}
# coords: switch labels are xyza but any unique 4 letters
# from the set {xyxabcuvw) can be used (if the coord exists)
coords = x y z c
# lowpass settings:
# coef: slows rate of change of output, range: 0 < coef < 1
coefs = 1 1 1 1
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 -1 1 1
# jogmode normal(default) or vnormal
jogmode = normal
# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
# sequence 3: 0.001,0.010,0.100
# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
# sequence 5: 0.001,0.010,0.050,0.100,1.000
sequence = 2
# require_pendant = yes|no: create xhc-hb04 hal pins when pendant not
# connected at startup
require_pendant = no
# inch_or_mm = in | mm
inch_or_mm = in
# mpg_accels: provision for reduced acceleration for manual mode jogging
mpg_accels = 1 2 20 600
[APPLICATIONS]
APP = monitor-xhc-hb04

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configs/sim/axis/xhc-hb04/xhc-hb04-layout2.txt Normal file
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xhc-hb04-layout2
18 buttons:
---------------------------------------
|RESET |Stop | |
---------------------------------------
|GotoZero|Start/Pause|Rewind |Probe-Z |
---------------------------------------
|Spindle | =1/2 | =0 |Safe-Z |
---------------------------------------
|GotoHome|Macro-1 |Macro-2|Macro-3 |
---------------------------------------
|STEP |Mode |Macro-6|Macro-7 |
---------------------------------------
| Off |
| X |
| Y |
| Rotary -------> Z |
| Switch A |
| Spindle |
| Feed |
---------------------------------------
Button codes defined in LIB:xhc-hb04-layout2.cfg
The Start/Pause button can be connected for standard behavior with:
[XHC_HB04_BUTTON]start-pause = std_start_pause
The STEP button is normally connected with:
[XHC_HB04_BUTTON]step = xhc-hb04.stepsize-up
The other buttons can be connected to hal pins -- typically halui provided pins.
MDI commands can be executed using halui.mdi-command-nn pins defined in the ini file with entries like: [HALUI]MDI_COMMAND = mdi_command
The rotary switch selects the axis, spindle.0, or feedoverride for control by the jogwheel.
The switch positions (xyza) can be defined to any available axis (xyzc for instance).

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configs/sim/axis/xhc-hb04/xhc-hb04-layout2_es.txt Normal file
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xhc-hb04-layout2
18 botones:
---------------------------------------
|RESET |Stop | |
---------------------------------------
|GotoZero|Start/Pause|Rewind |Probe-Z |
---------------------------------------
|Spindle | =1/2 | =0 |Safe-Z |
---------------------------------------
|GotoHome|Macro-1 |Macro-2|Macro-3 |
---------------------------------------
|STEP |Mode |Macro-6|Macro-7 |
---------------------------------------
| Off |
| X |
| Y |
| Rotary -------> Z |
| Switch A |
| Spindle |
| Feed |
---------------------------------------
Códigos de botón definidos en LIB:xhc-hb04-layout2.cfg
El botón Start/Pause se puede conectar para un comportamiento estándar con:
[XHC_HB04_BUTTON]start-pause = std_start_pause
El botón STEP normalmente está conectado con:
[XHC_HB04_BUTTON]step = xhc-hb04.stepsize-up
Los otros botones se pueden conectar a los pines hal, típicamente pines provistos de halui.
Los comandos MDI se pueden ejecutar usando los pines halui.mdi-command-nn definidos en el archivo ini con entradas como: [HALUI]MDI_COMMAND = mdi_command
El interruptor giratorio selecciona el eje, spindle.0 o ajuste de velocidad para el control mediante la rueda.
Las posiciones del interruptor (xyza) se pueden definir para cualquier eje disponible (xyzc, por ejemplo).

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configs/sim/axis/xhc-hb04/xhc-hb04-layout2_mm.ini Normal file
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#INCLUDE mm_base.inc
#INCLUDE mm_trivkins.inc
#INCLUDE layout2.inc
[EMC]
VERSION = 1.1
MACHINE = xhc-hb04 layout2 mm demo
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = LIB:xhc-hb04.tcl
[XHC_HB04_CONFIG]
# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
layout = 2
# coords: specify upto 4 letters from set {x y z a b c u v w}
# coords: switch labels are xyza but any unique 4 letters
# from the set {xyxabcuvw) can be used (if the coord exists)
coords = x y z c
# lowpass settings:
# coef: slows rate of change of output, range: 0 < coef < 1
coefs = 1 1 1 1
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 -1 1 1
# jogmode normal(default) or vnormal
jogmode = normal
# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
# sequence 3: 0.001,0.010,0.100
# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
# sequence 5: 0.001,0.010,0.050,0.100,1.000
sequence = 1
# require_pendant = yes|no: create xhc-hb04 hal pins when pendant noti
# connected at startup
require_pendant = no
# inch_or_mm = in | mm
inch_or_mm = mm
# mpg_accels: provision for reduced acceleration for manual mode jogging
mpg_accels = 50 50 500 600
[APPLICATIONS]
APP = monitor-xhc-hb04

1
configs/sim/axis/xhc-hb04/xhc-hb04-layout2_mm.txt Symbolic link
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xhc-hb04-layout2.txt