Make 3D machine manager axis controls configuration driven

2026-09-30 20:30:07 +08:00
parent 469881794c
commit af65b69b2c
14 changed files with 705 additions and 116 deletions
--- a/web/workspace/machine-manager-settings.json
+++ b/web/workspace/machine-manager-settings.json
@@ -0,0 +1,153 @@
+{
+  "roles": [
+    {
+      "id": "base",
+      "label": "床身底座",
+      "parent": null,
+      "axis": null
+    },
+    {
+      "id": "x",
+      "label": "X 轴部件",
+      "parent": "base",
+      "axis": "X"
+    },
+    {
+      "id": "y",
+      "label": "Y 轴部件",
+      "parent": "x",
+      "axis": "Y"
+    },
+    {
+      "id": "z",
+      "label": "Z 轴部件",
+      "parent": "y",
+      "axis": "Z"
+    },
+    {
+      "id": "tool",
+      "label": "主轴/刀具",
+      "parent": "z",
+      "axis": null
+    },
+    {
+      "id": "tilt",
+      "label": "倾转部件",
+      "parent": "base",
+      "axis": null
+    },
+    {
+      "id": "c",
+      "label": "回转部件",
+      "parent": "tilt",
+      "axis": null
+    },
+    {
+      "id": "work",
+      "label": "工件/工作台",
+      "parent": "c",
+      "axis": null
+    }
+  ],
+  "profiles": [
+    {
+      "caseId": "xyzac-trt",
+      "coordinates": "XYZAC",
+      "urdfProfile": "trt-xyz-head/1",
+      "tiltAxis": "A",
+      "rotaryAxis": "C",
+      "forbiddenOffsetDirection": "x",
+      "limits": {
+        "X": [
+          -200,
+          200,
+          20
+        ],
+        "Y": [
+          -100,
+          100,
+          20
+        ],
+        "Z": [
+          -120,
+          120,
+          20
+        ],
+        "A": [
+          -100,
+          50,
+          30
+        ],
+        "C": [
+          -36000,
+          36000,
+          30
+        ]
+      },
+      "effort": 1000,
+      "tiltDirection": [
+        1,
+        0,
+        0
+      ],
+      "rotaryDirection": [
+        0,
+        0,
+        1
+      ]
+    },
+    {
+      "caseId": "xyzbc-trt",
+      "coordinates": "XYZBC",
+      "urdfProfile": "trt-xyz-head/1",
+      "tiltAxis": "B",
+      "rotaryAxis": "C",
+      "forbiddenOffsetDirection": "y",
+      "limits": {
+        "X": [
+          -200,
+          200,
+          20
+        ],
+        "Y": [
+          -100,
+          100,
+          20
+        ],
+        "Z": [
+          -120,
+          120,
+          20
+        ],
+        "B": [
+          -36000,
+          36000,
+          30
+        ],
+        "C": [
+          -36000,
+          36000,
+          30
+        ]
+      },
+      "effort": 1000,
+      "tiltDirection": [
+        0,
+        1,
+        0
+      ],
+      "rotaryDirection": [
+        0,
+        0,
+        1
+      ]
+    }
+  ],
+  "historyLimit": 30,
+  "jogSteps": [
+    0.1,
+    1,
+    10
+  ],
+  "initialJogStep": 1
+}