3.9 KiB
3.9 KiB
RTCP G-code 文件清单
下面的路径均相对于 test_Rtcp/programs/。括号中的路径是对应的 LinuxCNC 源码相对路径。
1. TRT table rotary/tilting 主程序与测试：16 个
这些程序对应 xyzac-trt-kins 或 xyzbc-trt-kins。在 switchkins 配置中，M428 选择 TCP 运动学，M429 选择 identity 运动学。
主程序和运动学测试
configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc
remap 与可调用子程序
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngcconfigs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc
2. gmoccapy TRT 示例：5 个
该配置直接加载 xyzac-trt-kins，所以示例中不一定显式写 M428。
configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngcconfigs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngcconfigs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngcconfigs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngcconfigs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc
3. XYZAB table dual rotary：3 个
configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngcconfigs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngcconfigs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc
xyzab-tdr-demo.ngc 使用 HAL 运动学变量建立 G54，加载刀长补偿后进入 TCP 模式，并同时改变 A/B 姿态。
4. XYZBCW Bridge Mill / 5axiskins：4 个
configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngcconfigs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngcconfigs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngcconfigs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc
5axisgui.ngc 是参数化的球面/钻孔演示，使用 W 轴沿刀具方向进给；对应的 5axiskins 通过 pivot length 和当前刀长实现 TCP。
5. Hexapod RTCP 支持 remap：3 个
configs/sim/axis/vismach/hexapod-sim/remap_subs/428remap.ngcconfigs/sim/axis/vismach/hexapod-sim/remap_subs/429remap.ngcconfigs/sim/axis/vismach/hexapod-sim/remap_subs/430remap.ngc
该目录在当前源码中没有额外的 RTCP 主加工程序，但 genhexkins.c 明确说明 genhexkins.tool-offset 连接到 motion.tooloffset.Z 时实现 RTCP，因此保留其运动学切换 remap 作为支持性 G 代码。
6. 独立五轴动态刀长示例：1 个
nc_files/cone.ngc
该程序标注为 simulated 5 axis machine，先在旋转轴回零状态下使用 G43.1 修改动态刀长，然后执行 B/C 旋转和 W 轴钻削。它没有绑定到当前某个五轴 INI，因此应作为算法参考程序使用。