External Axis Offset hal pins

(65: rebased to master at: 2603145 2017-05-20 16:02:37 -0700)

Docs: docs/src/motion/external-offsets.txt

Hal pins (input interface is similar to wheel jogging pins):
  axis.L.eoffset-enable   Input  (bit):   enable
  axis.L.eoffset-scale    Input  (float): scale factor
  axis.L.eoffset-counts   Input  (s32):   request is counts*scale
  axis.L.eoffset-clear    Input  (bit):   clear request
  axis.L.eoffset          Output (float): current external offset
  axis.L.eoffset-request  Output (float): requested external offset (debug pin)

  motion.eoffset-active   Output (bit):   non-zero external offsets applied
  motion.eoffset-limited  Output (bit):   limited by soft limit

Hal components:
    eoffset_per_angle.comp
    eoffset_pid.comp

Sim configs (configs/sim/axis/external_offsets/)
    eoffset_demo.ini    (XYZ ext offsets)
    jwp_z.ini           (jog-while-pause Z)
    dynamic_offsets.ini (dynamic Z)
    opa.ini             (X ext offset per C angle)
    hpid.ini            (torch height control using eoffset_pid)

Notes:
1) see docs/src/motion/external_offsets.txt for usage restrictions
   man updated: motion.9
   new manpage: offset_per_angle.9 (auto by halcompile)
   new manpage: eoffset_pid.9 (auto by halcompile)
2) In canon.hh, option:
     #undef  STOP_ON_SYNCH_IF_EXTERNAL_OFFSETS
     #define STOP_ON_SYNCH_IF_EXTERNAL_OFFSETS
   forces a stop on any synch() if non-zero external
   offsets.

   Use #undef for testing -- works for many cases but not for
   queue-busters within program loops (repeat,while,do-while)
   using gcodes (like g0,g1) that omit axis letters

3) In command.c, using ALT_EOFFSET_BEHAVIOR for cont/incr jogs

Signed-off-by: Dewey Garrett <dgarrett@panix.com>

configs/sim/axis/external_offsets/M111

@@ -0,0 +1,5 @@
+#!/bin/bash
+halcmd setp axisui.notifications-clear-info 1
+sleep .1
+halcmd setp axisui.notifications-clear-info 0
+exit 0

configs/sim/axis/external_offsets/README

@@ -0,0 +1,5 @@
+eoffset_demo.ini ----- Basic demo (XYZ)
+jwp_z.ini ------------ Jog while paused (Z) demo
+dynamic_offsets.ini -- Z offset waveforms demo
+opa.ini -------------- Offset per Angle (XZC) demo
+hpid.ini ------------- Torch height PID demo

configs/sim/axis/external_offsets/ccircle.ngc

@@ -0,0 +1,48 @@
+o<ccircle> sub
+        #<r> = #1 (= 1    radius)
+    #<frate> = #2 (= 2000 feedrate)
+     #<revs> = #3 (= 2    +/-Revs)
+
+#<ct>  = [#<revs> * 360]
+#<z> = 0
+#<c> = 0
+
+
+;------------------------------------
+g92 C 0
+#<C_save> = #5216
+#<C_new> = [#<C_save> MOD 360]
+o<r1> if [#<C_save> lt 0]
+          #<C_new> = [#<C_new> -360]
+o<r1> endif
+g92.1
+g10l20p1 C #<C_new>
+;------------------------------------
+
+(debug, one moment --> C#<c>)
+g0 c#<c>
+g0 x#<r> z#<z>
+m68 e0 q#<r> ; set radius for eoffsets
+(debug, Enable offsets, s to continue)
+m1 ; optional stop
+m111
+
+f#<frate>
+g1 c[#<revs> * 360]
+(debug, Disable offsets, s to continue)
+m1 ; optional stop
+g0 x0
+
+;------------------------------------
+g92 C 0
+#<C_save> = #5216
+#<C_new> = [#<C_save> MOD 360]
+o<r2> if [#<C_save> lt 0]
+          #<C_new> = [#<C_new> -360]
+o<r2> endif
+g92.1
+g10l20p1 C #<C_new>
+;------------------------------------
+m111
+o<ccircle> endsub
+

configs/sim/axis/external_offsets/dyn_demo.ngc

@@ -0,0 +1,33 @@
+#<xmax>  =   9
+#<ymax>  =   4
+#<zmax>  =   3
+#<rct>   = 100
+#<feed>  = 100
+
+#<x1>    = #<xmax>
+#<y1>    = 0
+#<z1>    = [#<zmax> * 0.5]
+
+#<x2>    = #<xmax>
+#<y2>    = #<ymax>
+#<z2>    = 0
+
+#<x3>    = 0
+#<y3>    = #<ymax>
+#<z3>    = #<zmax>
+
+m111 ;clear notifications
+g61
+g0 x0 y0 z0
+
+o<rpt> repeat [#<rct>]
+f #<feed>
+g0 x 0          y 0        z 0
+g1 x #<x1>      y #<y1>    z #<z1>
+g1 x #<x2>      y #<y2>    z #<z2>
+g1 x #<x3>      y #<y3>    z #<z3>
+g1 x 0          y 0        z 0
+o<rpt> endrepeat
+
+m111 ;clear notifications
+m2

configs/sim/axis/external_offsets/dynamic_offsets.halscope

@@ -0,0 +1,27 @@
+THREAD servo-thread
+MAXCHAN 8
+HMULT 4
+HZOOM 1
+HPOS 5.186916e-01
+CHAN 1
+SIG E:z-offset
+VSCALE -1
+VPOS 0.398564
+VOFF 0.000000e+00
+CHAN 2
+SIG G:waveform
+VSCALE -1
+VPOS 0.398564
+VOFF 0.000000e+00
+CHAN 4
+SIG G:reset
+VSCALE 2
+VPOS 0.961120
+VOFF 0.000000e+00
+CHAN 3
+PIN joint.2.motor-pos-cmd
+VSCALE 0
+VPOS 0.900000
+VOFF 0.000000e+00
+TMODE 0
+RMODE 0

configs/sim/axis/external_offsets/dynamic_offsets.ini

@@ -0,0 +1,81 @@
+[APPLICATIONS]
+# delay because some items are done in postgui
+DELAY = 5
+APP = halscope -i dynamic_offsets.halscope
+
+[HAL]
+HALUI   = halui
+HALFILE = LIB:basic_sim.tcl
+POSTGUI_HALFILE = dynamic_offsets_panel.hal
+
+[EMC]
+MACHINE = Dynamic External Offsets
+VERSION = 1.0
+
+[DISPLAY]
+PYVCP = dynamic_offsets_panel.xml
+DISPLAY = axis
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_LINEAR_VELOCITY = 2
+OPEN_FILE = ./dyn_demo.ngc
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+USER_M_PATH = .
+PARAMETER_FILE = sim.var
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+COORDINATES = XYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+
+[KINS]
+JOINTS = 3
+KINEMATICS = trivkins coordinates=XYZ
+
+[AXIS_X]
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -1
+MAX_LIMIT        =  10
+
+[AXIS_Y]
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -1
+MAX_LIMIT        =  10
+
+[AXIS_Z]
+# Note:give half to external_offsets:
+OFFSET_AV_RATIO  =   0.5
+
+# Note: modified in pyvcp panel:
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  50
+
+MIN_LIMIT        =  -5
+MAX_LIMIT        =   5
+
+[JOINT_0]
+TYPE          = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE          = LINEAR
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE          = LINEAR
+HOME_SEQUENCE = 0

configs/sim/axis/external_offsets/dynamic_offsets.txt

@@ -0,0 +1,32 @@
+dynamic_offsets
+
+A sinewave is applied to the Z coordinate external offset
+
+The waveform amplitdude and frequency are set by pyvcp panel spinboxes.
+
+The Z coordinate max acceleration and max velocity settings (from the ini file) can be modified with pyvcp panel spinboxes.
+
+Usage:
+  1) Estop OFF  (F1)
+  2) Machine ON (F2)
+  3) HOME All   (Ctrl-Home)
+  4) A halscope application is started to
+     show the offset waveforms and the
+     z coordinate response 
+  5) Enable the dynamic offset waveform
+     with the panel 'Z enable' checkbox
+  5) Use the panel to adjust:
+       Waveform:     amplitude, frequency
+       Z Coordinate: max accel, max vel
+
+Notes:
+  The dynamic waveform is applied with and without
+  running a program.
+
+  MDI cannot be started with non-zero external
+  offsets -- disable the Z offsets and toggle
+  the machine On/Off to zero offsets.
+
+  Changes to the Z max accel, max vel are not
+  made while a program or mdi move is in progress.
+

configs/sim/axis/external_offsets/dynamic_offsets_panel.hal

@@ -0,0 +1,46 @@
+loadrt siggen         names=gen
+loadrt scale          names=scalea
+loadrt conv_float_s32 names=cvt
+loadrt not            names=nota
+loadrt or2            names=or2a
+
+addf   gen.update     servo-thread
+addf   scalea         servo-thread
+addf   cvt            servo-thread
+addf   nota           servo-thread
+addf   or2a           servo-thread
+
+setp gen.offset       0.0
+
+# scaling -----------------------------------------------------------
+# these should be reciprocals:
+# 1 unit (inch)  --> 10000 counts
+setp axis.z.eoffset-scale     0.0001
+setp scalea.gain          10000
+
+net  E:amplitude  <= pyvcp.gen-amplitude     => gen.amplitude
+net  E:frequency  <= pyvcp.gen-frequency     => gen.frequency
+
+# can also use sawtooth (others inappropriate on a reset)
+net  G:waveform         <= gen.sine                => scalea.in
+net  G:swaveform        <= scalea.out              => cvt.in
+net  G:counts           <= cvt.out                 => axis.z.eoffset-counts
+
+net  E:enable     <= pyvcp.z-enable          => axis.z.eoffset-enable
+net  E:enable                                => nota.in
+
+net  E:disable    <= nota.out                => or2a.in1
+
+net  E:z-offset   <= axis.z.eoffset          => pyvcp.z-offset-f
+
+net  E:limited    <= motion.eoffset-limited  => pyvcp.eoffset-limited
+
+net  E:active    <= motion.eoffset-active  => pyvcp.eoffset-active
+
+net  E:reset      <= pyvcp.reset             => or2a.in0
+
+net  E:ini-accel <= pyvcp.ini-accel          => ini.z.max_acceleration
+net  E:ini-vel   <= pyvcp.ini-vel            => ini.z.max_velocity
+
+net  G:reset           <= or2a.out                 => axis.z.eoffset-clear
+net  G:reset                                       => gen.reset