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This commit is contained in:
Wang Dequan
3057
configs/sim/gmoccapy/lathe_configs/LatheMacro.svg
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3057
configs/sim/gmoccapy/lathe_configs/LatheMacro.svg
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72
configs/sim/gmoccapy/lathe_configs/README
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72
configs/sim/gmoccapy/lathe_configs/README
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@@ -0,0 +1,72 @@
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This folder contains a number of simulated lathe configs.
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||||
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the "lathemacro" config offers a number of simple macros to perform
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the most common lathe operations.
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The GUI that controls the macros can be viewed by clicking the "Cycles"
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tab top left of the graphical preview window.
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There are two load-time options to control the tab behaviour:
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1) norun will hide the action button, use this if you want to use only
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a physical button (connected to gladevcp.cycle-start) to start the macros
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(Strongly recommended, especially with Touchy)
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2) notouch will allow keyboard editing of the spinboxes. Otherwise the
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custom numeric keyboard will be shown.
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An example loadrt line, as used here in the Gmoccapy demo is:
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[DISPLAY]
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EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
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The window will resize slowly if you grab the corner and move the mouse
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inside the window. It's not as bad as it was, but still needs work.
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You may need to click the unmaximise button in the toolbar to get a
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window border to be able to use the resize handles.
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Notes on the keyboard:
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As well as the obvious functions and unit conversions, it can be used to
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enter fractions. For example if you type 1.1/2 it will automatically
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update to display 1.5000 and 16.17/64 will show 16.2656.
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This can be used in a limited way to halve the onscreen value eg for
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entering radius instead of diameter.
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However it only works for whole numbers: 100/2 will become 50 but
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3.14149/2 is interpreted as 3 and 14 thousand halves so won't work.
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Notes on adding your own cycles:
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Create a new G-code subroutine in the same format as the existing ones.
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In Glade add a new tab to the 'tabs1' notebook and give it a name matching
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the new cycle.
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Edit the action button (inside an eventbox) to call the new G-code sub.
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Rename the action button to match the tab name and append '.action' eg
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MyCycle.action
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Create new artwork. I used Fusion360, the models are here:
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https://a360.co/3uFPZNv
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and the drawings are here:
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https://a360.co/3uFPZNv
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Esport the drawing page as PDF and import into the lathemacro.svg file in
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Inkscape. You will need to resize. Add your own arrows and annotations.
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Save the new layer in a layer named "layerN" (lower case) where N is the
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tab number, starting at zero. You will need to invoke the XML editor for
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this (Shift-Cmd-X on Mac)
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The entry boxes are positioned relative to a 1500 x 1000 image; the
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original size of the SVG. So you can hover your mouse over the image in
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Inkscape to determine the coordinates.
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In the in the case of on-drawing controls the coordinates are entered as
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an XML comment in the Tooltip for the control in x,y format (The surface speed,
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tool and coolant do not need this, they are in a fixed table)
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An example:
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<!--300,711->Peck distance
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Make sure the comment has "use markup" selected for the tooltip.
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Also ensure that the control has the "show_keyb" function allocated for
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the Widget->button_press event. If you copy-paste a tab and copy-paste
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extra controls this should be automatic.
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_All_ your new spinboxes will need their own new Adjustment, or they will
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change value when you alter the original spinbox that they are a copy of.
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64
configs/sim/gmoccapy/lathe_configs/boring.ngc
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64
configs/sim/gmoccapy/lathe_configs/boring.ngc
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@@ -0,0 +1,64 @@
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;boring
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O<boring> sub
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G8 ; Radius mode (easier maths)
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G18 ; XZ Plane
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G21 ; Metric Units
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G90 ; Absolute Distance
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G91.1 ; but not for arcs
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M6 T#8 G43
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#1 = [#1 / 2] ; because of radius mode
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#14 = [#<_x>] (starting X)
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#13 = #<_z> (starting Z)
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#20 = [#6 * SIN[#7]]
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#21 = [-#6 * COS[#7]]
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#22 = [#6 / COS[#7]]
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#23 = [#5 + #6 - #20]
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#24 = [[#23 - #13] * TAN[#7]]
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G96 D2500 S#2 ; Constant Surface Speed Mode
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m3 ;Start Spindle
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g95 F#4 ; Feed-Per-Rev Mode
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O90 IF [#9 GT 0.5]
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M8
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O90 ENDIF
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g4p1 ; Wait to reach speed
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(debug, Turning finish dia #1 start dia #14 start length #13 finish length #5 coolant #9)
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O100 WHILE [#14 LT [#1 - #3]]
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g0 X #14
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#14=[#14 + #3]
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G1 X #14
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G1 Z #23 X[#14 + #24]
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O101 IF [#6 GT 0]
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G3 Z#5 X[#14 + #24 + #21] I#21 K#20
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G1 X[#14 + #24 + #21 - #3]
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O101 ELSE
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G1 X[#14 + #24 - [#3 * 1.5]]
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O101 ENDIF
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G0 Z[#13]
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O100 ENDWHILE
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G0 x#1
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G1 Z #23 X[#1 + #24]
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O102 IF [#6 GT 0]
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G3 Z#5 X[#1 + #24 + #21] I#21 K#20
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G1 X[#1 + #24 + #21 - #3]
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O102 ELSE
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G1 X[#1 + #24 - #3]
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O102 ENDIF
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G0 Z #13
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G0 X #1 ; For touch-off
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M5 M9
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G7
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O<boring> endsub
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M2
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77
configs/sim/gmoccapy/lathe_configs/chamfer.ngc
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77
configs/sim/gmoccapy/lathe_configs/chamfer.ngc
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;chamfer
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O<chamfer> sub
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G8 ; Lathe radius Mode
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G18 ; XZ Plane
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G21 ; Metric Units
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G90 ; Absolute Distance
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M6 T#6 G43
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#1 = [#1 / 2] ; because of radius mode
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#14 = [#<_x>] (starting X)
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#13 = [#<_z>] (starting Z)
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G96 D1500 S#2 ; Constant Surface Speed Mode
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M3
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g95 F0.1 ; Feed-Per-Rev Mode
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O90 IF [#12 GT 0.5]
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M8
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O90 ENDIF
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#20 = 0
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O101 if [#9 GT 0.5] ; front outside
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o100 while [[#20 + #3] lt #8]
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#20 = [#20 + #3]
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g0 x[#1 - #20] z#13
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g1 z#5
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g1 x#1 z[#5 - #20]
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g1 x #14
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g0 z#13
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o100 endwhile
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g0 x#14 z#13
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g0 x[#1 - #8]
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g1 z#5
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g1 x#1 z[#5 - #8]
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g1 x #14
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g0 z#13
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O101 elseif [#10 GT 0.5] ; front inside
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o102 while [[#20 + #3] lt #8]
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#20 = [#20 + #3]
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g0 x[#1 + #20] z#13
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g1 z#5
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g1 x#1 z[#5 - #20]
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g1 x #14
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g0 z#13
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o102 endwhile
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g0 x#14 z#13
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g0 x[#1 + #8]
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g1 z#5
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g1 x#1 z[#5 - #8]
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g1 x #14
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g0 z#13
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O101 elseif [#11 GT 0.5] ; back outside
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o103 while [[#20 + #3] lt #8]
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#20 = [#20 + #3]
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g0 x[#1 - #20] z#13
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g1 z#5
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g1 x#1 z[#5 + #20]
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g1 x #14
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g0 z#13
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o103 endwhile
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g0 x#14 z#13
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g0 x[#1 - #8]
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g1 z#5
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g1 x#1 z[#5 + #8]
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g1 x #14
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g0 z#13
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O101 endif
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M5 M9
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G7
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O<chamfer> endsub
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m2
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%
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30
configs/sim/gmoccapy/lathe_configs/core_sim_lathe.hal
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30
configs/sim/gmoccapy/lathe_configs/core_sim_lathe.hal
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@@ -0,0 +1,30 @@
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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
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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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# 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
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net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
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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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net spindle-fwd spindle.0.forward
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net spindle-rev spindle.0.reverse
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#net spindle-speed spindle.0.speed-out
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net flood iocontrol.0.coolant-flood
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net mist iocontrol.0.coolant-mist
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||||
58
configs/sim/gmoccapy/lathe_configs/core_sim_lathe_C.hal
Normal file
58
configs/sim/gmoccapy/lathe_configs/core_sim_lathe_C.hal
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@@ -0,0 +1,58 @@
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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
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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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||||
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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 Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
|
||||
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
|
||||
|
||||
|
||||
# send the position commands thru differentiators to
|
||||
# generate velocity and accel signals
|
||||
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
|
||||
net Xacc <= ddt_xv.out
|
||||
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
|
||||
net Yacc <= ddt_yv.out
|
||||
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
|
||||
net Zacc <= ddt_zv.out
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||||
|
||||
# Cartesian 2- and 3-axis velocities
|
||||
net XYvel vel_xy.out => vel_xyz.in1
|
||||
net XYZvel <= vel_xyz.out
|
||||
|
||||
# estop loopback
|
||||
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
|
||||
|
||||
# create signals for tool loading loopback
|
||||
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
|
||||
net spindle-fwd spindle.0.forward
|
||||
net spindle-rev spindle.0.reverse
|
||||
#net spindle-speed spindle.0.speed-out
|
||||
|
||||
net flood iocontrol.0.coolant-flood
|
||||
net mist iocontrol.0.coolant-mist
|
||||
58
configs/sim/gmoccapy/lathe_configs/core_sim_lathe_CW.hal
Normal file
58
configs/sim/gmoccapy/lathe_configs/core_sim_lathe_CW.hal
Normal file
@@ -0,0 +1,58 @@
|
||||
# core HAL config file for simulation
|
||||
|
||||
# first load all the RT modules that will be needed
|
||||
# kinematics
|
||||
loadrt [KINS]KINEMATICS
|
||||
# motion controller, get name and thread periods from ini file
|
||||
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
|
||||
# load 6 differentiators (for velocity and accel signals
|
||||
loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
|
||||
# load additional blocks
|
||||
loadrt hypot names=vel_xy,vel_xyz
|
||||
|
||||
# add motion controller functions to servo thread
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
# link the differentiator functions into the code
|
||||
addf ddt_x servo-thread
|
||||
addf ddt_xv servo-thread
|
||||
addf ddt_y servo-thread
|
||||
addf ddt_yv servo-thread
|
||||
addf ddt_z servo-thread
|
||||
addf ddt_zv servo-thread
|
||||
addf vel_xy servo-thread
|
||||
addf vel_xyz servo-thread
|
||||
|
||||
# create HAL signals for position commands from motion module
|
||||
# loop position commands back to motion module feedback
|
||||
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
|
||||
net Zpos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_z.in
|
||||
net Cpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
|
||||
net Wpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
|
||||
|
||||
# send the position commands thru differentiators to
|
||||
# generate velocity and accel signals
|
||||
net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
|
||||
net Xacc <= ddt_xv.out
|
||||
net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
|
||||
net Yacc <= ddt_yv.out
|
||||
net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
|
||||
net Zacc <= ddt_zv.out
|
||||
|
||||
# Cartesian 2- and 3-axis velocities
|
||||
net XYvel vel_xy.out => vel_xyz.in1
|
||||
net XYZvel <= vel_xyz.out
|
||||
|
||||
# estop loopback
|
||||
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
|
||||
|
||||
# create signals for tool loading loopback
|
||||
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
|
||||
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
|
||||
|
||||
net spindle-fwd spindle.0.forward
|
||||
net spindle-rev spindle.0.reverse
|
||||
#net spindle-speed spindle.0.speed-out
|
||||
|
||||
net flood iocontrol.0.coolant-flood
|
||||
net mist iocontrol.0.coolant-mist
|
||||
49
configs/sim/gmoccapy/lathe_configs/drilling.ngc
Normal file
49
configs/sim/gmoccapy/lathe_configs/drilling.ngc
Normal file
@@ -0,0 +1,49 @@
|
||||
;drilling
|
||||
|
||||
; Use T = 0 for tailstock drilling, then this just sets speed
|
||||
|
||||
O<drilling> SUB
|
||||
|
||||
G18 ; XZ Plane
|
||||
G21 ; Metric Units
|
||||
G90 ; Absolute Distance
|
||||
G91.1 ; but not for arcs
|
||||
|
||||
#10 = [#2 * 1000 / [ #1 * 3.141592]]
|
||||
(debug, #10)
|
||||
O90 IF [#7 GT 0.5]
|
||||
M8
|
||||
O90 ENDIF
|
||||
|
||||
O100 IF [#6 LT 0.5]
|
||||
G97 M3 S#10
|
||||
O<drilling> RETURN
|
||||
O100 ENDIF
|
||||
|
||||
M6 T#6 G43
|
||||
G0 X0
|
||||
|
||||
O83 IF [#5 GT 0] ; Pecking
|
||||
G17
|
||||
G95 F#3 ; Feed-Per-Rev Mode
|
||||
G97 M3 S#10
|
||||
G98
|
||||
G83 R#<_z> Q#5 Z#4
|
||||
M5 M9 G18
|
||||
O<drilling> RETURN
|
||||
O83 ENDIF
|
||||
|
||||
O82 IF [1]; not pecking
|
||||
G17
|
||||
G95 F#3 ; Feed-Per-Rev Mode
|
||||
G97 M3 S#10
|
||||
G98
|
||||
G82 R#<_z> P0.5 Z#4
|
||||
M5 M9 G18
|
||||
O82 ENDIF
|
||||
|
||||
O<drilling> ENDSUB
|
||||
|
||||
O<drilling> call [10] [100] [0.03] [0] [2] [0] [1]
|
||||
|
||||
M2
|
||||
45
configs/sim/gmoccapy/lathe_configs/facing.ngc
Normal file
45
configs/sim/gmoccapy/lathe_configs/facing.ngc
Normal file
@@ -0,0 +1,45 @@
|
||||
;Facing
|
||||
O<facing> sub
|
||||
|
||||
G7 ; Lathe Diameter Mode
|
||||
G18 ; XZ Plane
|
||||
G21 ; Metric Units
|
||||
G90 ; Absolute Distance
|
||||
|
||||
M6 T#7 G43
|
||||
|
||||
O90 IF [#8 GT 0.5]
|
||||
M8
|
||||
O90 ENDIF
|
||||
|
||||
O10 IF [#6 NE 0]
|
||||
(MSG, Angled facing isn't supported yet)
|
||||
O10 ENDIF
|
||||
|
||||
#14 = [#<_x> * 2] (starting X)
|
||||
#13 = #<_z> (starting Z)
|
||||
|
||||
G96 D2500 S#2 ; Constant Surface Speed Mode
|
||||
M3
|
||||
g95 F#4 ; Feed-Per-Rev Mode
|
||||
|
||||
g4p1 ; Wait to reach speed
|
||||
|
||||
O200 WHILE [#13 GT #5 + #3]
|
||||
|
||||
#13=[#13-#3]
|
||||
G1 Z#13
|
||||
G1 X#1
|
||||
G0 Z[#13+#3]
|
||||
G0 X#14
|
||||
G0 Z#13
|
||||
O200 ENDWHILE
|
||||
|
||||
G1 Z#5
|
||||
G1 X#1
|
||||
G0 Z[#13+#3]
|
||||
G0 X[#14+#3]
|
||||
G0 Z#5 ; For touch-off
|
||||
M5 M9
|
||||
O<facing> endsub
|
||||
M2
|
||||
23
configs/sim/gmoccapy/lathe_configs/gmoccapy_postgui.hal
Normal file
23
configs/sim/gmoccapy/lathe_configs/gmoccapy_postgui.hal
Normal file
@@ -0,0 +1,23 @@
|
||||
###################################################################
|
||||
# moccapy_postgui.hal file from Norbert Schechner #
|
||||
###################################################################
|
||||
|
||||
loadrt abs names=abs_spindle_feedback
|
||||
addf abs_spindle_feedback servo-thread
|
||||
|
||||
net spindle-speed-limited => abs_spindle_feedback.in
|
||||
net spindle-abs abs_spindle_feedback.out => gmoccapy.spindle_feedback_bar
|
||||
net spindle-at-speed gmoccapy.spindle_at_speed_led
|
||||
|
||||
# the unlink pin commands are only used, because they are connected
|
||||
# in core_sim.hal and we use this file to simulate
|
||||
unlinkp iocontrol.0.tool-change
|
||||
unlinkp iocontrol.0.tool-changed
|
||||
unlinkp iocontrol.0.tool-prep-number
|
||||
|
||||
net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
|
||||
net tool-changed gmoccapy.toolchange-changed => iocontrol.0.tool-changed
|
||||
net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number
|
||||
|
||||
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
|
||||
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z
|
||||
32
configs/sim/gmoccapy/lathe_configs/grooving.ngc
Normal file
32
configs/sim/gmoccapy/lathe_configs/grooving.ngc
Normal file
@@ -0,0 +1,32 @@
|
||||
;grooving
|
||||
|
||||
O<grooving> sub
|
||||
|
||||
G8 ; Radius mode (easier maths)
|
||||
G18 ; XZ Plane
|
||||
G21 ; Metric Units
|
||||
G90 ; Absolute Distance
|
||||
G91.1 ; but not for arcs
|
||||
|
||||
M6 T#4 G43
|
||||
|
||||
#1 = [#1 / 2] ; because of radius mode
|
||||
|
||||
#14 = [#<_x>] (starting X)
|
||||
|
||||
G96 D1500 S#2 ; Constant Surface Speed Mode
|
||||
m3 ;Start Spindle
|
||||
g95 F#3 ; Feed-Per-Rev Mode
|
||||
|
||||
O90 IF [#5 GT 0.5]
|
||||
M8
|
||||
O90 ENDIF
|
||||
|
||||
g4p1 ; Wait to reach speed
|
||||
G1 F#3 X#1
|
||||
G0 X#14
|
||||
M5 M9
|
||||
G7
|
||||
O<grooving> endsub
|
||||
|
||||
M2
|
||||
162
configs/sim/gmoccapy/lathe_configs/lathe.ini
Normal file
162
configs/sim/gmoccapy/lathe_configs/lathe.ini
Normal file
@@ -0,0 +1,162 @@
|
||||
# EMC controller parameters for a simulated machine.
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = gmoccapy_lathe
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# for details see nc_files/subroutines/maco_instructions.txt
|
||||
[DISPLAY]
|
||||
DISPLAY = gmoccapy
|
||||
LATHE = 1
|
||||
BACK_TOOL_LATHE = 0
|
||||
|
||||
# Cycle time, in milliseconds, that display will sleep between polls
|
||||
CYCLE_TIME = 100
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MAX_SPINDLE_OVERRIDE = 1.2
|
||||
MIN_SPINDLE_OVERRIDE = .5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
# list of selectable jog increments
|
||||
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
|
||||
|
||||
[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 controller section -----------------------------------------------------
|
||||
[RS274NGC]
|
||||
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../macros
|
||||
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
|
||||
REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
|
||||
|
||||
# the Python plugins serves interpreter and task------------------------------
|
||||
[PYTHON]
|
||||
PATH_PREPEND = ../python
|
||||
TOPLEVEL = ../python/toplevel.py
|
||||
LOG_LEVEL = 0
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 100000
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[HAL]
|
||||
HALFILE = core_sim_lathe.hal
|
||||
HALFILE = spindle_sim.hal
|
||||
HALFILE = simulated_home_lathe.hal
|
||||
|
||||
# Single file that is executed after the GUI has started.
|
||||
POSTGUI_HALFILE = gmoccapy_postgui.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 50
|
||||
MAX_LINEAR_VELOCITY = 234
|
||||
POSITION_FILE = position.txt
|
||||
#NO_FORCE_HOMING = 1
|
||||
|
||||
# First axis
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = lathe.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=XZ
|
||||
JOINTS = 2
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME = 100
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# Third axis
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 1.0
|
||||
HOME = 250
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[MACROS]
|
||||
MACRO = i_am_lost
|
||||
MACRO = halo_world
|
||||
MACRO = jog_around
|
||||
MACRO = increment xinc yinc
|
||||
MACRO = go_to_position X-pos Y-pos Z-pos
|
||||
|
||||
|
||||
5
configs/sim/gmoccapy/lathe_configs/lathe.tbl
Normal file
5
configs/sim/gmoccapy/lathe_configs/lathe.tbl
Normal file
@@ -0,0 +1,5 @@
|
||||
T1 P1 X-12.0 Y0.0 Z-25.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I26.0 J86.0 Q2.0 ;60 Grad vorn
|
||||
T2 P2 X-10.356 Y0.0 Z12.123 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I50.0 J85.0 Q2.0 ;35 Grad vorn
|
||||
T3 P3 X1.123 Y0.0 Z25.456 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.4 I-80.0 J-25.0 Q3.0 ;55 Grad vorn
|
||||
T4 P4 X0.0 Y0.0 Z0.0 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I94.0 J154.0 Q1.0 ;60 Grad Rück
|
||||
T5 P5 X5.737 Y0.0 Z12.2399 A0.0 B0.0 C0.0 U0.0 V0.0 W0.0 D0.1 I0.0 J0.0 Q6.0 ;Einstichstahl
|
||||
185
configs/sim/gmoccapy/lathe_configs/lathe_C.ini
Normal file
185
configs/sim/gmoccapy/lathe_configs/lathe_C.ini
Normal file
@@ -0,0 +1,185 @@
|
||||
# EMC controller parameters for a simulated machine.
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = lathe_c
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# for details see nc_files/subroutines/maco_instructions.txt
|
||||
[DISPLAY]
|
||||
DISPLAY = gmoccapy
|
||||
LATHE = 1
|
||||
BACK_TOOL_LATHE = 0
|
||||
|
||||
# Cycle time, in milliseconds, that display will sleep between polls
|
||||
CYCLE_TIME = 100
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MAX_SPINDLE_OVERRIDE = 1.2
|
||||
MIN_SPINDLE_OVERRIDE = .5
|
||||
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
# list of selectable jog increments
|
||||
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
|
||||
|
||||
[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 controller section -----------------------------------------------------
|
||||
[RS274NGC]
|
||||
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../macros
|
||||
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
|
||||
REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
|
||||
|
||||
# the Python plugins serves interpreter and task
|
||||
[PYTHON]
|
||||
PATH_PREPEND = ../python
|
||||
TOPLEVEL = ../python/toplevel.py
|
||||
LOG_LEVEL = 0
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 100000
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[HAL]
|
||||
HALFILE = core_sim_lathe_C.hal
|
||||
HALFILE = spindle_sim.hal
|
||||
HALFILE = simulated_home_lathe.hal
|
||||
|
||||
# Single file that is executed after the GUI has started.
|
||||
POSTGUI_HALFILE = gmoccapy_postgui.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z C
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 50
|
||||
MAX_LINEAR_VELOCITY = 234
|
||||
POSITION_FILE = position.txt
|
||||
#NO_FORCE_HOMING = 1
|
||||
|
||||
# First axis
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = lathe.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=XZC
|
||||
JOINTS = 3
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME = 10
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# Third axis
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 1.0
|
||||
HOME = -10
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
|
||||
[AXIS_C]
|
||||
MAX_VELOCITY = 90.0
|
||||
MAX_ACCELERATION = 1200.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 90.0
|
||||
MAX_ACCELERATION = 1200.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 40
|
||||
OUTPUT_SCALE = 1.000
|
||||
FERROR = 5.0
|
||||
MIN_FERROR = 1.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[MACROS]
|
||||
MACRO = i_am_lost
|
||||
MACRO = halo_world
|
||||
MACRO = jog_around
|
||||
MACRO = increment xinc yinc
|
||||
MACRO = go_to_position X-pos Y-pos Z-pos
|
||||
|
||||
|
||||
213
configs/sim/gmoccapy/lathe_configs/lathe_CW.ini
Normal file
213
configs/sim/gmoccapy/lathe_configs/lathe_CW.ini
Normal file
@@ -0,0 +1,213 @@
|
||||
# EMC controller parameters for a simulated machine.
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = lathe_cw
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# for details see nc_files/subroutines/maco_instructions.txt
|
||||
[DISPLAY]
|
||||
DISPLAY = gmoccapy
|
||||
LATHE = 1
|
||||
BACK_TOOL_LATHE = 0
|
||||
|
||||
# Cycle time, in milliseconds, that display will sleep between polls
|
||||
CYCLE_TIME = 100
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MAX_SPINDLE_OVERRIDE = 1.2
|
||||
MIN_SPINDLE_OVERRIDE = .5
|
||||
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
# list of selectable jog increments
|
||||
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
|
||||
|
||||
[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 controller section -----------------------------------------------------
|
||||
[RS274NGC]
|
||||
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../macros
|
||||
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
|
||||
REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
|
||||
|
||||
# the Python plugins serves interpreter and task-------------------------------
|
||||
[PYTHON]
|
||||
PATH_PREPEND = ../python
|
||||
TOPLEVEL = ../python/toplevel.py
|
||||
LOG_LEVEL = 0
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 100000
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[HAL]
|
||||
HALFILE = core_sim_lathe_CW.hal
|
||||
HALFILE = spindle_sim.hal
|
||||
HALFILE = simulated_home_lathe.hal
|
||||
|
||||
# Single file that is executed after the GUI has started.
|
||||
POSTGUI_HALFILE = gmoccapy_postgui.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z C W
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 50
|
||||
MAX_LINEAR_VELOCITY = 234
|
||||
POSITION_FILE = position.txt
|
||||
#NO_FORCE_HOMING = 1
|
||||
|
||||
# First axis
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = lathe.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=XZCW
|
||||
JOINTS = 4
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME = 10
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# Third axis
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 1.0
|
||||
HOME = -10
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
|
||||
[AXIS_C]
|
||||
MAX_VELOCITY = 90.0
|
||||
MAX_ACCELERATION = 1200.0
|
||||
|
||||
[JOINT_2]
|
||||
TYPE = ANGULAR
|
||||
HOME = 0.0
|
||||
MAX_VELOCITY = 90.0
|
||||
MAX_ACCELERATION = 1200.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 40
|
||||
OUTPUT_SCALE = 1.000
|
||||
FERROR = 5.0
|
||||
MIN_FERROR = 1.0
|
||||
HOME_OFFSET = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
|
||||
[AXIS_W]
|
||||
MIN_LIMIT = -200.0
|
||||
MAX_LIMIT = 0.0
|
||||
MAX_VELOCITY = 66
|
||||
MAX_ACCELERATION = 150.0
|
||||
|
||||
[JOINT_3]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 66
|
||||
MAX_ACCELERATION = 150.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -200.0
|
||||
MAX_LIMIT = 0.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME = 0.0
|
||||
HOME_SEARCH_VEL = 0.0
|
||||
HOME_LATCH_VEL = 0.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[MACROS]
|
||||
MACRO = i_am_lost
|
||||
MACRO = halo_world
|
||||
MACRO = jog_around
|
||||
MACRO = increment xinc yinc
|
||||
MACRO = go_to_position X-pos Y-pos Z-pos
|
||||
|
||||
|
||||
163
configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini
Normal file
163
configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini
Normal file
@@ -0,0 +1,163 @@
|
||||
# EMC controller parameters for a simulated machine.
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = gmoccapy_lathe
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# for details see nc_files/subroutines/maco_instructions.txt
|
||||
[DISPLAY]
|
||||
DISPLAY = gmoccapy
|
||||
LATHE = 1
|
||||
BACK_TOOL_LATHE = 1
|
||||
|
||||
# Cycle time, in milliseconds, that display will sleep between polls
|
||||
CYCLE_TIME = 100
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MAX_SPINDLE_OVERRIDE = 1.2
|
||||
MIN_SPINDLE_OVERRIDE = .5
|
||||
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
# list of selectable jog increments
|
||||
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
|
||||
|
||||
[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 controller section -----------------------------------------------------
|
||||
[RS274NGC]
|
||||
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../macros
|
||||
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
|
||||
REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
|
||||
|
||||
# the Python plugins serves interpreter and task-------------------------------
|
||||
[PYTHON]
|
||||
PATH_PREPEND = ../python
|
||||
TOPLEVEL = ../python/toplevel.py
|
||||
LOG_LEVEL = 0
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 100000
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[HAL]
|
||||
HALFILE = core_sim_lathe.hal
|
||||
HALFILE = spindle_sim.hal
|
||||
HALFILE = simulated_home_lathe.hal
|
||||
|
||||
# Single file that is executed after the GUI has started.
|
||||
POSTGUI_HALFILE = gmoccapy_postgui.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 50
|
||||
MAX_LINEAR_VELOCITY = 234
|
||||
POSITION_FILE = position.txt
|
||||
#NO_FORCE_HOMING = 1
|
||||
|
||||
# First axis
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = lathe.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=XZ
|
||||
JOINTS = 2
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME = 10
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# Third axis
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 1.0
|
||||
HOME = -10
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[MACROS]
|
||||
MACRO = i_am_lost
|
||||
MACRO = halo_world
|
||||
MACRO = jog_around
|
||||
MACRO = increment xinc yinc
|
||||
MACRO = go_to_position X-pos Y-pos Z-pos
|
||||
|
||||
|
||||
163
configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini
Normal file
163
configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini
Normal file
@@ -0,0 +1,163 @@
|
||||
# EMC controller parameters for a simulated machine.
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = lathe_imperial
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# for details see nc_files/subroutines/maco_instructions.txt
|
||||
[DISPLAY]
|
||||
DISPLAY = gmoccapy
|
||||
|
||||
LATHE = 1
|
||||
BACK_TOOL_LATHE = 0
|
||||
|
||||
# Cycle time, in milliseconds, that display will sleep between polls
|
||||
CYCLE_TIME = 100
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MAX_SPINDLE_OVERRIDE = 1.2
|
||||
MIN_SPINDLE_OVERRIDE = .5
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
# list of selectable jog increments
|
||||
INCREMENTS = 0.4 inch, 0.04 inch , 0.004 inch, 0.0004 inch
|
||||
|
||||
[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 controller section -----------------------------------------------------
|
||||
[RS274NGC]
|
||||
RS274NGC_STARTUP_CODE = G18 G20 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.001
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../macros
|
||||
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
|
||||
REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
|
||||
|
||||
# the Python plugins serves interpreter and task-------------------------------
|
||||
[PYTHON]
|
||||
PATH_PREPEND = ../python
|
||||
TOPLEVEL = ../python/toplevel.py
|
||||
LOG_LEVEL = 0
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 100000
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[HAL]
|
||||
HALFILE = core_sim_lathe.hal
|
||||
HALFILE = spindle_sim.hal
|
||||
HALFILE = simulated_home_lathe.hal
|
||||
|
||||
# Single file that is executed after the GUI has started.
|
||||
POSTGUI_HALFILE = gmoccapy_postgui.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z
|
||||
LINEAR_UNITS = inch
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 1.6
|
||||
MAX_LINEAR_VELOCITY = 10
|
||||
POSITION_FILE = position.txt
|
||||
|
||||
# First axis
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = lathe.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=XZ
|
||||
JOINTS = 2
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -2.0
|
||||
MAX_LIMIT = 40.0
|
||||
MAX_VELOCITY = 6.5
|
||||
MAX_ACCELERATION = 59.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 6.5
|
||||
MAX_ACCELERATION = 59.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -2.0
|
||||
MAX_LIMIT = 40.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME = 4
|
||||
HOME_SEARCH_VEL = 40.0
|
||||
HOME_LATCH_VEL = 2.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
|
||||
# Third axis
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 400.0
|
||||
MAX_VELOCITY = 6.5
|
||||
MAX_ACCELERATION = 59.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 6.5
|
||||
MAX_ACCELERATION = 59.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -3.0
|
||||
MAX_LIMIT = 400.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 1.0
|
||||
HOME = -2
|
||||
HOME_SEARCH_VEL = 40.0
|
||||
HOME_LATCH_VEL = 2.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[MACROS]
|
||||
MACRO = i_am_lost
|
||||
MACRO = halo_world
|
||||
MACRO = jog_around
|
||||
MACRO = increment xinc yinc
|
||||
MACRO = go_to_position X-pos Y-pos Z-pos
|
||||
|
||||
# Sections for display options ------------------------------------------------
|
||||
163
configs/sim/gmoccapy/lathe_configs/lathe_macros.ini
Normal file
163
configs/sim/gmoccapy/lathe_configs/lathe_macros.ini
Normal file
@@ -0,0 +1,163 @@
|
||||
# EMC controller parameters for a simulated machine.
|
||||
# General note: Comments can either be preceded with a # or ; - either is
|
||||
# acceptable, although # is in keeping with most linux config files.
|
||||
|
||||
# General section -------------------------------------------------------------
|
||||
[EMC]
|
||||
VERSION = 1.1
|
||||
MACHINE = gmoccapy_lathe
|
||||
#DEBUG = 0x7FFFFFFF
|
||||
DEBUG = 0
|
||||
|
||||
# for details see nc_files/subroutines/maco_instructions.txt
|
||||
[DISPLAY]
|
||||
DISPLAY = gmoccapy
|
||||
LATHE = 1
|
||||
BACK_TOOL_LATHE = 0
|
||||
|
||||
# Cycle time, in milliseconds, that display will sleep between polls
|
||||
CYCLE_TIME = 100
|
||||
|
||||
# Highest value that will be allowed for feed override, 1.0 = 100%
|
||||
MAX_FEED_OVERRIDE = 1.5
|
||||
MAX_SPINDLE_OVERRIDE = 1.2
|
||||
MIN_SPINDLE_OVERRIDE = .5
|
||||
|
||||
|
||||
# Prefix to be used
|
||||
PROGRAM_PREFIX = ../../nc_files/
|
||||
|
||||
# Introductory graphic
|
||||
INTRO_GRAPHIC = linuxcnc.gif
|
||||
INTRO_TIME = 5
|
||||
|
||||
# list of selectable jog increments
|
||||
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm
|
||||
|
||||
EMBED_TAB_NAME = Cycles
|
||||
EMBED_TAB_LOCATION = ntb_preview
|
||||
#EMBED_TAB_LOCATION = ntb_user_tabs
|
||||
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
|
||||
|
||||
[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 controller section -----------------------------------------------------
|
||||
[RS274NGC]
|
||||
RS274NGC_STARTUP_CODE = G18 G21 G40 G49 G54 G80 G90 G94 G8 M9 M5 G64 P0.005
|
||||
PARAMETER_FILE = sim.var
|
||||
SUBROUTINE_PATH = ../macros:./
|
||||
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
|
||||
REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
|
||||
|
||||
# the Python plugins serves interpreter and task-------------------------------
|
||||
[PYTHON]
|
||||
PATH_PREPEND = ../python
|
||||
TOPLEVEL = ../python/toplevel.py
|
||||
LOG_LEVEL = 0
|
||||
|
||||
# Motion control section ------------------------------------------------------
|
||||
[EMCMOT]
|
||||
EMCMOT = motmod
|
||||
COMM_TIMEOUT = 1.0
|
||||
BASE_PERIOD = 100000
|
||||
SERVO_PERIOD = 1000000
|
||||
|
||||
# Hardware Abstraction Layer section --------------------------------------------------
|
||||
[TASK]
|
||||
TASK = milltask
|
||||
CYCLE_TIME = 0.001
|
||||
|
||||
# Part program interpreter section --------------------------------------------
|
||||
[HAL]
|
||||
HALFILE = core_sim_lathe.hal
|
||||
HALFILE = spindle_sim.hal
|
||||
HALFILE = simulated_home_lathe.hal
|
||||
|
||||
# Single file that is executed after the GUI has started.
|
||||
POSTGUI_HALFILE = ./gmoccapy_postgui.hal
|
||||
|
||||
HALUI = halui
|
||||
|
||||
# Trajectory planner section --------------------------------------------------
|
||||
[HALUI]
|
||||
#No Content
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = X Z
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = degree
|
||||
DEFAULT_LINEAR_VELOCITY = 50
|
||||
MAX_LINEAR_VELOCITY = 234
|
||||
POSITION_FILE = position.txt
|
||||
#NO_FORCE_HOMING = 1
|
||||
|
||||
# First axis
|
||||
[EMCIO]
|
||||
# tool table file
|
||||
TOOL_TABLE = lathe.tbl
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = trivkins coordinates=XZ
|
||||
JOINTS = 2
|
||||
|
||||
[AXIS_X]
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_0]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -50.0
|
||||
MAX_LIMIT = 200.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 0.0
|
||||
HOME = 10
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 1
|
||||
|
||||
# Third axis
|
||||
[AXIS_Z]
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
|
||||
[JOINT_1]
|
||||
TYPE = LINEAR
|
||||
MAX_VELOCITY = 166
|
||||
MAX_ACCELERATION = 1500.0
|
||||
BACKLASH = 0.000
|
||||
INPUT_SCALE = 4000
|
||||
OUTPUT_SCALE = 1.000
|
||||
MIN_LIMIT = -75.0
|
||||
MAX_LIMIT = 1000.0
|
||||
FERROR = 0.050
|
||||
MIN_FERROR = 0.010
|
||||
HOME_OFFSET = 1.0
|
||||
HOME = -10
|
||||
HOME_SEARCH_VEL = 200.0
|
||||
HOME_LATCH_VEL = 20.0
|
||||
HOME_USE_INDEX = NO
|
||||
HOME_IGNORE_LIMITS = NO
|
||||
HOME_SEQUENCE = 0
|
||||
|
||||
# section for main IO controller parameters -----------------------------------
|
||||
[MACROS]
|
||||
|
||||
|
||||
218
configs/sim/gmoccapy/lathe_configs/lathehandler.py
Executable file
218
configs/sim/gmoccapy/lathe_configs/lathehandler.py
Executable file
@@ -0,0 +1,218 @@
|
||||
#!/usr/bin/env python3
|
||||
# vim: sts=4 sw=4 et
|
||||
# This is a component of LinuxCNC
|
||||
# Copyright 2013 Andy Pugh
|
||||
# based on code from
|
||||
# probe.py Copyright 2010 Michael Haberler
|
||||
#
|
||||
#
|
||||
# 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA''''''
|
||||
|
||||
import os,sys
|
||||
from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widgets
|
||||
import hal
|
||||
import hal_glib
|
||||
import glib
|
||||
import linuxcnc
|
||||
import cairo
|
||||
import signal
|
||||
import re
|
||||
import gi
|
||||
gi.require_version('Rsvg', '2.0')
|
||||
gi.require_version('Gtk', '3.0')
|
||||
from gi.repository import Gtk
|
||||
from gi.repository import Gdk
|
||||
from gi.repository import GObject
|
||||
from gi.repository import Pango
|
||||
from gi.repository import Rsvg
|
||||
from gi.repository import GdkPixbuf
|
||||
debug = 0
|
||||
notouch = 0
|
||||
norun = 0
|
||||
svgfile = os.path.join(os.path.dirname(__file__), "LatheMacro.svg")
|
||||
|
||||
class HandlerClass:
|
||||
active = False
|
||||
tab_num = 0
|
||||
|
||||
def on_expose(self,nb,data=None):
|
||||
if nb.has_focus():
|
||||
tab_num = nb.get_current_page()
|
||||
tab = nb.get_nth_page(tab_num)
|
||||
alloc = tab.get_allocation()
|
||||
x, y, w, h = (alloc.x, alloc.y, alloc.width, alloc.height)
|
||||
pixbuf = self.svg.get_pixbuf_sub(f'#layer{tab_num}').scale_simple(w-10, h-10, GdkPixbuf.InterpType.BILINEAR)
|
||||
im = self.builder.get_object(f'Image{tab_num}')
|
||||
im.set_from_pixbuf(pixbuf)
|
||||
for c in im.get_parent().get_children():
|
||||
if c.get_has_tooltip():
|
||||
m = re.findall(r'<!--(\d+),(\d+)-->', c.get_tooltip_markup())
|
||||
if len(m) > 0:
|
||||
x1 = int(m[0][0]); y1 = int(m[0][1])
|
||||
c.set_margin_left(max(0, w * x1/1500))
|
||||
c.set_margin_top(max(0, h * y1/1000))
|
||||
|
||||
|
||||
# decide if our window is active to mask the cycle-start hardware button
|
||||
# FIXME: This is probably not as reliable as one might wish.
|
||||
def event(self,w,event):
|
||||
if w.is_active():
|
||||
if w.has_toplevel_focus() :
|
||||
self.active = True
|
||||
else:
|
||||
self.active = False
|
||||
|
||||
# Capture notify events
|
||||
def on_map_event(self, widget, data=None):
|
||||
top = widget.get_toplevel()
|
||||
top.connect('notify', self.event)
|
||||
|
||||
def on_destroy(self,obj,data=None):
|
||||
self.ini.save_state(self)
|
||||
|
||||
def on_restore_defaults(self,button,data=None):
|
||||
'''
|
||||
example callback for 'Reset to defaults' button
|
||||
currently unused
|
||||
'''
|
||||
self.ini.create_default_ini()
|
||||
self.ini.restore_state(self)
|
||||
|
||||
def __init__(self, halcomp,builder,useropts):
|
||||
self.halcomp = halcomp
|
||||
self.builder = builder
|
||||
self.ini_filename = 'savestate.sav'
|
||||
self.defaults = { IniFile.vars: dict(),
|
||||
IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(),
|
||||
hal_only=False,output_only = True))
|
||||
}
|
||||
self.ini = IniFile(self.ini_filename,self.defaults,self.builder)
|
||||
self.ini.restore_state(self)
|
||||
|
||||
# A pin to use a physical switch to start the cycle
|
||||
self.cycle_start = hal_glib.GPin(halcomp.newpin('cycle-start', hal.HAL_BIT, hal.HAL_IN))
|
||||
self.cycle_start.connect('value-changed', self.cycle_pin)
|
||||
|
||||
# This catches the signal from Touchy to say that the tab is exposed
|
||||
t = self.builder.get_object('macrobox')
|
||||
t.connect('map-event',self.on_map_event)
|
||||
t.add_events(Gdk.EventMask.STRUCTURE_MASK)
|
||||
|
||||
self.cmd = linuxcnc.command()
|
||||
|
||||
# This connects the expose event to re-draw and scale the SVG frames
|
||||
t = self.builder.get_object('tabs1')
|
||||
t.connect_after("state-flags-changed", self.on_expose)
|
||||
t.connect("destroy", Gtk.main_quit)
|
||||
t.add_events(Gdk.EventMask.STRUCTURE_MASK)
|
||||
self.svg = Rsvg.Handle().new_from_file(svgfile)
|
||||
self.active = True
|
||||
|
||||
# handle Useropts
|
||||
if norun:
|
||||
for c in range(0,7):
|
||||
self.builder.get_object(f'tab{c}.action').set_visible(False)
|
||||
|
||||
def show_keyb(self, obj, data=None):
|
||||
if notouch: return False
|
||||
self.active_ctrl = obj
|
||||
self.keyb = self.builder.get_object('keyboard')
|
||||
self.entry = self.builder.get_object('entry1')
|
||||
self.entry.modify_font(Pango.FontDescription("courier 42"))
|
||||
self.entry.set_text("")
|
||||
resp = self.keyb.run()
|
||||
return True
|
||||
|
||||
def keyb_prev_click(self, obj, data=None):
|
||||
self.entry.set_text(self.active_ctrl.get_text())
|
||||
|
||||
def keyb_number_click(self, obj, data=None):
|
||||
data = self.entry.get_text()
|
||||
data = data + obj.get_label()
|
||||
if any( x in data for x in [ '/2', '/4', '/8', '/16', '/32', '/64', '/128']):
|
||||
v = [0] + [float(x) for x in data.replace('/','.').split('.')]
|
||||
data = f'{v[-3] + v[-2]/v[-1]:6.7}'
|
||||
self.entry.set_text(data)
|
||||
|
||||
def keyb_pm_click(self, obj, data=None):
|
||||
data = self.entry.get_text()
|
||||
if not data:
|
||||
data = "-"
|
||||
elif data[0] == '-':
|
||||
data = data[1:]
|
||||
else:
|
||||
data = '-' + data
|
||||
self.entry.set_text(data)
|
||||
|
||||
def keyb_convert_click(self, obj, data=None):
|
||||
v = float(self.entry.get_text())
|
||||
op = obj.get_label()
|
||||
if op == 'in->mm':
|
||||
self.entry.set_text(f'{v * 25.4:6.4}')
|
||||
elif op == 'mm->in':
|
||||
self.entry.set_text(f'{v / 25.4:6.4}')
|
||||
elif op == 'tpi->pitch':
|
||||
self.entry.set_text(f'{25.4 / v:6.4}')
|
||||
elif op == 'pitch->tpi':
|
||||
self.entry.set_text(f'{25.4 / v:6.4}')
|
||||
|
||||
def keyb_del_click(self, obj, data=None):
|
||||
data = self.entry.get_text()
|
||||
data = data[:-1]
|
||||
self.entry.set_text(data)
|
||||
|
||||
def keyb_clear_click(self, obj, data=None):
|
||||
self.entry.set_text('')
|
||||
|
||||
def keyb_cancel_click(self, obj, data=None):
|
||||
self.keyb.hide()
|
||||
|
||||
def keyb_ok_click(self, obj, data=None):
|
||||
if self.entry.get_text() != '':
|
||||
self.active_ctrl.set_value(float(self.entry.get_text()))
|
||||
self.keyb.hide()
|
||||
|
||||
def set_alpha(self, obj, data = None):
|
||||
cr = obj.get_property('window').cairo_create()
|
||||
cr.set_source_rgba(1.0, 1.0, 1.0, 0.0)
|
||||
|
||||
def cycle_pin(self, pin, data = None):
|
||||
if pin.get() == 0:
|
||||
return
|
||||
if self.active:
|
||||
nb = self.builder.get_object('tabs1')
|
||||
print('current tab', nb.get_current_page())
|
||||
c = self.builder.get_object(f"tab{nb.get_current_page()}.action")
|
||||
if c is not None:
|
||||
self.cmd.abort()
|
||||
self.cmd.mode(linuxcnc.MODE_MDI)
|
||||
self.cmd.wait_complete()
|
||||
c.emit('clicked')
|
||||
print(c.get_name(), "clicked")
|
||||
|
||||
def testing(self, obj, data = None):
|
||||
print('event', data)
|
||||
|
||||
def get_handlers(halcomp,builder,useropts):
|
||||
|
||||
global debug
|
||||
for cmd in useropts:
|
||||
print(cmd)
|
||||
exec(cmd, globals())
|
||||
|
||||
set_debug(debug)
|
||||
return [HandlerClass(halcomp,builder,useropts)]
|
||||
|
||||
|
||||
2937
configs/sim/gmoccapy/lathe_configs/lathemacro.ui
Normal file
2937
configs/sim/gmoccapy/lathe_configs/lathemacro.ui
Normal file
File diff suppressed because it is too large
Load Diff
76
configs/sim/gmoccapy/lathe_configs/radius.ngc
Normal file
76
configs/sim/gmoccapy/lathe_configs/radius.ngc
Normal file
@@ -0,0 +1,76 @@
|
||||
;radius
|
||||
|
||||
O<radius> sub
|
||||
|
||||
G8 ; Lathe radius Mode
|
||||
G18 ; XZ Plane
|
||||
G21 ; Metric Units
|
||||
G90 ; Absolute Distance
|
||||
|
||||
|
||||
M6 T#6 G43
|
||||
|
||||
#1 = [#1 / 2] ; because of radius mode
|
||||
#14 = [#<_x>] (starting X)
|
||||
#13 = [#<_z>] (starting Z)
|
||||
|
||||
G96 D2400 S#2 ; Constant Surface Speed Mode
|
||||
M3
|
||||
g95 F0.1 ; Feed-Per-Rev Mode
|
||||
|
||||
O90 IF [#12 GT 0.5]
|
||||
M8
|
||||
O90 ENDIF
|
||||
|
||||
#20 = 0
|
||||
O101 if [#9 GT 0.5] ; Front outside
|
||||
o100 while [[#20 + #3] lt #8]
|
||||
#20 = [#20 + #3]
|
||||
g0 x[#1 - #20] z#13
|
||||
g1 z#5
|
||||
g3 x#1 z[#5 - #20] K[-#20]
|
||||
g1 x #14
|
||||
g0 z#13
|
||||
o100 endwhile
|
||||
g0 x#14 z#13
|
||||
g0 x[#1 - #8]
|
||||
g1 z#5
|
||||
g3 x#1 z[#5 - #8] K[-#8]
|
||||
g1 x #14
|
||||
g0 z#13
|
||||
O101 elseif [#10 GT 0.5] ; front inside
|
||||
o102 while [[#20 + #3] lt #8]
|
||||
#20 = [#20 + #3]
|
||||
g0 x[#1 + #20] z#13
|
||||
g1 z#5
|
||||
g2 x#1 z[#5 - #20] K[-#20]
|
||||
g1 x #14
|
||||
g0 z#13
|
||||
o102 endwhile
|
||||
g0 x#14 z#13
|
||||
g0 x[#1 + #8]
|
||||
g1 z#5
|
||||
g2 x#1 z[#5 - #8] K[-#8]
|
||||
g1 x #14
|
||||
g0 z#13
|
||||
O101 elseif [#11 GT 0.5] ; back outside
|
||||
o103 while [[#20 + #3] lt #8]
|
||||
#20 = [#20 + #3]
|
||||
g0 x[#1 - #20] z#13
|
||||
g1 z#5
|
||||
g2 x#1 z[#5 + #20] K#20
|
||||
g1 x #14
|
||||
g0 z#13
|
||||
o103 endwhile
|
||||
g0 x#14 z#13
|
||||
g0 x[#1 - #8]
|
||||
g1 z#5
|
||||
g2 x#1 z[#5 + #8] K#8
|
||||
g1 x #14
|
||||
g0 z#13
|
||||
O101 endif
|
||||
M5 M9
|
||||
G7
|
||||
O<radius> endsub
|
||||
m2
|
||||
%
|
||||
71
configs/sim/gmoccapy/lathe_configs/savestate.sav
Normal file
71
configs/sim/gmoccapy/lathe_configs/savestate.sav
Normal file
@@ -0,0 +1,71 @@
|
||||
# generated by gladevcp.persistence.create_default_ini() on Tue Jul 12 01:49:47 2022
|
||||
[ini]
|
||||
signature = a9fe768b61bb9201e86d89ad226616650f20e7ac
|
||||
version = 1
|
||||
[vars]
|
||||
[widgets]
|
||||
chamfer.fi = False
|
||||
chamfer.fo = False
|
||||
turn.rad = 3.0
|
||||
groove.coolant = True
|
||||
turn.z = 120.0
|
||||
turn.x = 15.0
|
||||
drill.dia = 10.0
|
||||
radius.x = 0.0
|
||||
radius.z = 0.0
|
||||
thread.pitch = 1.0
|
||||
turn.feed = 0.15
|
||||
thread.x = 6.0
|
||||
bore.rad = 0.0
|
||||
radius.coolant = False
|
||||
radius.bo = False
|
||||
thread.z = 0.0
|
||||
face.coolant = False
|
||||
drill.peck = 2.0
|
||||
face.cut = 2.8999999999999977
|
||||
radius.rad = 1.0
|
||||
thread.internal = False
|
||||
face.sf = 0.0
|
||||
bore.sf = 100.0
|
||||
turn.tool = 1.0
|
||||
face.feed = 0.15
|
||||
chamfer.tool = 1.0
|
||||
chamfer.bo = True
|
||||
groove.sf = 100.0
|
||||
thread.tool = 5.0
|
||||
groove.feed = 0.03
|
||||
bore.feed = 0.15
|
||||
radius.sf = 100.0
|
||||
chamfer.x = 0.0
|
||||
chamfer.z = 0.0
|
||||
thread.external = True
|
||||
turn.coolant = True
|
||||
face.z = 0.0
|
||||
bore.x = 0.0
|
||||
bore.z = 0.0
|
||||
groove.x = 0.0
|
||||
face.tool = 1.0
|
||||
face.x = 0.0
|
||||
chamfer.size = 1.0
|
||||
turn.cut = 1.0
|
||||
drill.coolant = True
|
||||
chamfer.sf = 100.0
|
||||
bore.tool = 1.0
|
||||
groove.tool = 4.0
|
||||
face.angle = 0.0
|
||||
bore.coolant = True
|
||||
drill.feed = 0.020000000000000004
|
||||
drill.z = 0.0
|
||||
turn.sf = 60.0
|
||||
thread.sf = 60.0
|
||||
radius.fo = False
|
||||
turn.angle = 4.0
|
||||
thread.coolant = False
|
||||
bore.cut = 1.0
|
||||
radius.fi = True
|
||||
drill.tool = 3.0
|
||||
drill.sf = 100.0
|
||||
radius.tool = 1.0
|
||||
bore.angle = 0.0
|
||||
chamfer.coolant = False
|
||||
# last update by gladevcp.persistence.save_state() on Sat Oct 7 15:22:57 2023
|
||||
21
configs/sim/gmoccapy/lathe_configs/simulated_home_lathe.hal
Normal file
21
configs/sim/gmoccapy/lathe_configs/simulated_home_lathe.hal
Normal file
@@ -0,0 +1,21 @@
|
||||
loadrt comp names=comp_x,comp_z
|
||||
|
||||
addf comp_x servo-thread
|
||||
addf comp_z servo-thread
|
||||
|
||||
net Xhomeswpos => comp_x.in0
|
||||
net Zhomeswpos => comp_z.in0
|
||||
|
||||
sets Xhomeswpos 1
|
||||
sets Zhomeswpos 2
|
||||
|
||||
net Xpos => comp_x.in1
|
||||
net Zpos => comp_z.in1
|
||||
|
||||
setp comp_x.hyst .02
|
||||
setp comp_z.hyst .02
|
||||
|
||||
net Xhomesw <= comp_x.out => joint.0.home-sw-in
|
||||
net Zhomesw <= comp_z.out => joint.1.home-sw-in
|
||||
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
loadrt comp names=comp_x,comp_z
|
||||
|
||||
addf comp_x servo-thread
|
||||
addf comp_z servo-thread
|
||||
|
||||
net Xhomeswpos => comp_x.in0
|
||||
net Zhomeswpos => comp_z.in0
|
||||
|
||||
sets Xhomeswpos 1
|
||||
sets Zhomeswpos 2
|
||||
|
||||
net Xpos => comp_x.in1
|
||||
net Zpos => comp_z.in1
|
||||
|
||||
setp comp_x.hyst .02
|
||||
setp comp_z.hyst .02
|
||||
|
||||
net Xhomesw <= comp_x.out => joint.0.home-sw-in
|
||||
net Zhomesw <= comp_z.out => joint.1.home-sw-in
|
||||
|
||||
|
||||
69
configs/sim/gmoccapy/lathe_configs/spindle_sim.hal
Normal file
69
configs/sim/gmoccapy/lathe_configs/spindle_sim.hal
Normal file
@@ -0,0 +1,69 @@
|
||||
# counting the spindle encoder in software
|
||||
loadrt encoder names=encoder_0
|
||||
# simulate the encoder
|
||||
loadrt sim_encoder names=sim_encoder_0
|
||||
loadrt limit2 names=limit_speed
|
||||
|
||||
addf limit_speed servo-thread
|
||||
|
||||
#######################################################
|
||||
# Beginning of threading related stuff
|
||||
#######################################################
|
||||
|
||||
# spindle speed control
|
||||
net spindle-speed-cmd spindle.0.speed-out => limit_speed.in
|
||||
net spindle-speed-limited limit_speed.out => sim_encoder_0.speed
|
||||
|
||||
# simulate spindle mass
|
||||
setp limit_speed.maxv 3000.0 # rpm/second
|
||||
|
||||
# spindle encoder
|
||||
# connect encoder signals to encoder counter
|
||||
net spindle-phase-A sim_encoder_0.phase-A => encoder_0.phase-A
|
||||
net spindle-phase-B sim_encoder_0.phase-B => encoder_0.phase-B
|
||||
net spindle-phase-Z sim_encoder_0.phase-Z => encoder_0.phase-Z
|
||||
|
||||
# assume 120 ppr = 480 counts/rev for the spindle
|
||||
setp sim_encoder_0.ppr 12
|
||||
# iocontrol output is in rpm, but sim-encoder speed is rps
|
||||
setp sim_encoder_0.scale 60
|
||||
# scale encoder output to read in revolutions
|
||||
# (that way thread pitches can be straightforward,
|
||||
# a 20 tpi thread would multiply the encoder output
|
||||
# by 1/20, etc)
|
||||
setp encoder_0.position-scale 48
|
||||
|
||||
# encoder reset control
|
||||
# hook up motion controller's sync output
|
||||
net spindle-index-enable spindle.0.index-enable <=> encoder_0.index-enable
|
||||
|
||||
# report our revolution count to the motion controller
|
||||
net spindle-pos encoder_0.position => spindle.0.revs
|
||||
|
||||
# for spindle velocity estimate
|
||||
loadrt lowpass names=lowpass_velocity
|
||||
loadrt scale names=scale_to_rpm
|
||||
net spindle-rps-raw encoder_0.velocity lowpass_velocity.in
|
||||
net spindle-rps-filtered lowpass_velocity.out scale_to_rpm.in spindle.0.speed-in
|
||||
net spindle-rpm-filtered scale_to_rpm.out
|
||||
setp scale_to_rpm.gain 60
|
||||
setp lowpass_velocity.gain .07
|
||||
addf lowpass_velocity servo-thread
|
||||
addf scale_to_rpm servo-thread
|
||||
|
||||
# for at-speed detection
|
||||
loadrt near names=near_speed
|
||||
addf near_speed servo-thread
|
||||
setp near_speed.scale 1.1
|
||||
setp near_speed.difference 10
|
||||
net spindle-speed-cmd => near_speed.in1
|
||||
net spindle-rpm-filtered => near_speed.in2
|
||||
net spindle-at-speed near_speed.out spindle.0.at-speed
|
||||
|
||||
net spindle-fwd <= spindle.0.forward
|
||||
|
||||
addf encoder.capture-position servo-thread
|
||||
addf sim-encoder.update-speed servo-thread
|
||||
|
||||
addf sim-encoder.make-pulses base-thread
|
||||
addf encoder.update-counters base-thread
|
||||
59
configs/sim/gmoccapy/lathe_configs/threading.ngc
Normal file
59
configs/sim/gmoccapy/lathe_configs/threading.ngc
Normal file
@@ -0,0 +1,59 @@
|
||||
;threading
|
||||
|
||||
O<threading> sub
|
||||
|
||||
G7 ; Lathe Diameter Mode
|
||||
G18 ; XZ Plane
|
||||
G21 ; Metric Units
|
||||
G90 ; Absolute Distance
|
||||
|
||||
|
||||
M6 T#3 G43
|
||||
|
||||
#14 = [#<_x> * 2] (starting X)
|
||||
#13 = #<_z> (starting Z)
|
||||
|
||||
G96 D200 S#2 ; Constant Surface Speed Mode
|
||||
M3
|
||||
g95 F0.25 ; Feed-Per-Rev Mode
|
||||
|
||||
O90 IF [#8 GT 0.5]
|
||||
M8
|
||||
O90 ENDIF
|
||||
|
||||
g4p1 ; Wait to reach speed
|
||||
|
||||
;Threading
|
||||
O51 IF [#6 GT 0.5]
|
||||
#<OD> = [#1]
|
||||
#<ID> = [#1 - 1.3 * #4]
|
||||
;g1X [#<ID> - 1] ;thread truncation
|
||||
;g0 Z #13
|
||||
;g1 X #<ID>
|
||||
;g1 Z #5
|
||||
G0 X[#<ID> - 1]
|
||||
g0 Z #13
|
||||
#3 = [#4 * 1.3]
|
||||
(debug, INTERNAL Threading thread dia-#1 start-#13 finish-#5 Pitch-#4 Depth-#3)
|
||||
g1X [#<ID> - 1]
|
||||
g76 p#4 z#5 i1 j1 k#3 h3 r1.5 q29.5 e0 l0
|
||||
|
||||
O51 ELSE
|
||||
#<OD> = [#1 - 0.108 * #4]
|
||||
#<ID> = [#1 - 1.0825 * #4]
|
||||
(debug, EXTERNAL Threading OD = #<OD> ID = #<ID>)
|
||||
#3 = [#4 * 1.0825]
|
||||
g1X [#<OD> + 1] ;final thread truncation
|
||||
g0 z#13
|
||||
g1 X #<OD>
|
||||
g1 Z #5
|
||||
G0 X[#<OD> +1]
|
||||
G0 Z #13
|
||||
g76 p#4 z#5 i-1 j1 k#3 h3 r1.5 q29.5 e0 l0
|
||||
|
||||
O51 ENDIF
|
||||
G0 Z #13
|
||||
m5 M9
|
||||
O<threading> endsub
|
||||
|
||||
M2
|
||||
66
configs/sim/gmoccapy/lathe_configs/turning.ngc
Normal file
66
configs/sim/gmoccapy/lathe_configs/turning.ngc
Normal file
@@ -0,0 +1,66 @@
|
||||
;Turning
|
||||
|
||||
O<turning> sub
|
||||
|
||||
G8 ; Radius mode (easier maths)
|
||||
G18 ; XZ Plane
|
||||
G21 ; Metric Units
|
||||
G90 ; Absolute Distance
|
||||
G91.1 ; but not for arcs
|
||||
|
||||
M6 T#8 G43
|
||||
|
||||
#1 = [#1 / 2] ; because of radius mode
|
||||
#14 = [#<_x>] (starting X)
|
||||
#13 = #<_z> (starting Z)
|
||||
|
||||
#20 = [#6 * SIN[#7]]
|
||||
#21 = [#6 * COS[#7]]
|
||||
#22 = [#6 / COS[#7]]
|
||||
#23 = [#5 + #6 - #20]
|
||||
#24 = [[#13 - #23] * TAN[#7]]
|
||||
|
||||
G96 D2500 S#2 ; Constant Surface Speed Mode
|
||||
m3 ;Start Spindle
|
||||
g95 F#4 ; Feed-Per-Rev Mode
|
||||
|
||||
O90 IF [#9 GT 0.5]
|
||||
M8
|
||||
O90 ENDIF
|
||||
g4p1 ; Wait to reach speed
|
||||
|
||||
O100 WHILE [#14 GT [#1 + #3 / 2]]
|
||||
g0 X #14
|
||||
#14=[#14-#3 / 2]
|
||||
G1 X #14
|
||||
G1 Z #23 X[#14 + #24]
|
||||
O101 IF [#6 GT 0]
|
||||
G2 Z#5 X[#14 + #24 + #21] I#21 K#20
|
||||
G1 X[#14 + #24 + #21 + #3/2]
|
||||
O101 ELSE
|
||||
G1 X[#14 + #24 + [#3 * .6]]
|
||||
O101 ENDIF
|
||||
O104 IF [#7 LT 0]
|
||||
G0 X#14
|
||||
O104 ENDIF
|
||||
G0 Z[#13]
|
||||
O100 ENDWHILE
|
||||
|
||||
G0 x#1
|
||||
G1 Z #23 X[#1 + #24]
|
||||
O102 IF [#6 GT 0]
|
||||
G2 Z#5 X[#1 + #24 + #21] I#21 K#20
|
||||
G1 X[#1 + #24 + #21 + #3]
|
||||
O102 ELSE
|
||||
G1 X[#1 + #24 + #3]
|
||||
O102 ENDIF
|
||||
O106 IF [#7 LT 0]
|
||||
G0 X#14
|
||||
O106 ENDIF
|
||||
M9
|
||||
G0 Z #13
|
||||
G0 X #1 ; For touch-off
|
||||
M5
|
||||
G7
|
||||
O<turning> endsub
|
||||
M2
|
||||
Reference in New Issue
Block a user