Add support for multiple spindles

This commit adds support for up to 8 spindles G-code commands that interact with a spindle now take an extra parameter E to determine which spindle to work with. The exception is G76 which already used E. The spindle control pins are changed from motion.spindle.thing to spindle.N.thing to match the axis and joint naming conventions (which don't mention that they belong to motion) A demo config can be found in sim/axis/lathe_multispindle Signed-off-by: andypugh <andy@bodgesoc.org>
LinuxCNC · Sep 29, 2018 · e3caa92 · e3caa92
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diff --git a/configs/sim/axis/axis_mm.ini b/configs/sim/axis/axis_mm.ini
@@ -130,6 +130,7 @@ MAX_LINEAR_VELOCITY = 53.34
 DEFAULT_LINEAR_ACCEL = 508
 MAX_LINEAR_ACCEL = 508
 POSITION_FILE = position_mm.txt
+SPINDLES = 2
 
 [KINS]
 KINEMATICS = trivkins

diff --git a/configs/sim/axis/lathe_multispindle/README b/configs/sim/axis/lathe_multispindle/README
@@ -0,0 +1,24 @@
+This is a simulation of a 2-spindle lathe to demonstrate the multispindle patch.
+
+up to 8 spindles are supported, set by [TRAJ]SPINDLES in the INI and a 
+num_spindles modparam to motmod. These _must_ agree with each other. 
+
+There are still some things to shake-down regarding default behaviours if no
+spindle is selected. 
+
+Most spindle-related commands now take an extra "E" word to say which spindle 
+to apply them to. The exception is G76 which already used E, so now uses D for
+spindle. 
+
+The docs in this branch have not been updated to reflect new behaviour. 
+
+Examples
+
+S1000 E1 - set the speed of spindle 1 to 1000
+M3 S100 E0 - set the speed of spindle 0 to 100
+
+G33 X10 K1.5 E1 - make a move synchronised to spindle 1
+G33.2 Z-1 K1 E0 - rigid tap synchronised to spindle 0.
+
+M51 P0 E6 - disable speed override on spindle 6. M48 and M49 operate on all.
+
diff --git a/configs/sim/axis/lathe_multispindle/core_sim.hal b/configs/sim/axis/lathe_multispindle/core_sim.hal
@@ -0,0 +1,51 @@
+# 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 num_spindles=[TRAJ]SPINDLES
+# 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 Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
+net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
+
+# 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
+
diff --git a/configs/sim/axis/lathe_multispindle/lathe.hal b/configs/sim/axis/lathe_multispindle/lathe.hal
@@ -0,0 +1,109 @@
+# counting the spindle encoder in software
+loadrt encoder names=encoder_0,encoder_1
+# simulate the encoder
+loadrt sim_encoder names=sim_encoder_0,sim_encoder_1
+loadrt limit2 names=limit_speed
+
+addf limit_speed servo-thread
+
+#######################################################
+# Beginning of threading related stuff
+#######################################################
+
+# spindle speed control
+net spindle.0.cmd  spindle.0.speed-out => sim_encoder_0.speed
+net spindle.1.cmd  spindle.1.speed-out => sim_encoder_1.speed
+
+# simulate spindle mass
+setp limit_speed.maxv 500.0 # rpm/second
+
+# spindle encoder 0
+# 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 120
+# 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 480
+
+# 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.0.pos encoder_0.position => spindle.0.revs
+
+# spindle encoder 1
+# connect encoder signals to encoder counter
+net spindle-phase-A1 sim_encoder_1.phase-A => encoder_1.phase-A
+net spindle-phase-B1 sim_encoder_1.phase-B => encoder_1.phase-B
+net spindle-phase-Z1 sim_encoder_1.phase-Z => encoder_1.phase-Z
+
+# assume 120 ppr = 480 counts/rev for the spindle
+setp sim_encoder_1.ppr 120
+# iocontrol output is in rpm, but sim-encoder speed is rps
+setp sim_encoder_1.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_1.position-scale 480
+
+# encoder reset control
+# hook up motion controller's sync output
+net spindle-index-enable spindle.1.index-enable <=> encoder_0.index-enable
+
+# report our revolution count to the motion controller
+net spindle.1.pos encoder_1.position => spindle.1.revs
+
+# for spindle velocity estimate
+loadrt lowpass names=lowpass_velocity.0,lowpass_velocity.1
+loadrt scale names=scale_to_rpm.0,scale_to_rpm.1
+net spindle-rps-raw.0 encoder_0.velocity lowpass_velocity.0.in
+net spindle-rps-filtered.0 lowpass_velocity.0.out scale_to_rpm.0.in spindle.0.speed-in
+net spindle-rpm-filtered.0 scale_to_rpm.0.out
+setp scale_to_rpm.0.gain 60
+setp lowpass_velocity.0.gain .07
+addf lowpass_velocity.0 servo-thread
+addf scale_to_rpm.0 servo-thread
+
+net spindle-rps-raw.1 encoder_1.velocity lowpass_velocity.1.in
+net spindle-rps-filtered.1 lowpass_velocity.1.out scale_to_rpm.1.in spindle.1.speed-in
+net spindle-rpm-filtered.1 scale_to_rpm.1.out
+setp scale_to_rpm.1.gain 60
+setp lowpass_velocity.1.gain .07
+addf lowpass_velocity.1 servo-thread
+addf scale_to_rpm.1 servo-thread
+
+# for at-speed detection
+loadrt near names=near_speed.0,near_speed.1
+addf near_speed.0 servo-thread
+setp near_speed.0.scale 1.1
+setp near_speed.0.difference 10
+net spindle.0.cmd => near_speed.0.in1
+net spindle-rpm-filtered.0 => near_speed.0.in2
+net spindle-at-speed.0 near_speed.0.out spindle.0.at-speed
+net  spindle.0-fwd <= spindle.0.forward
+
+addf near_speed.1 servo-thread
+setp near_speed.1.scale 1.1
+setp near_speed.1.difference 10
+net spindle.1.cmd => near_speed.1.in1
+net spindle-rpm-filtered.1 => near_speed.1.in2
+net spindle-at-speed.1 near_speed.1.out spindle.1.at-speed
+
+net  spindle.1-fwd <= spindle.1.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
+
diff --git a/configs/sim/axis/lathe_multispindle/lathe.ini b/configs/sim/axis/lathe_multispindle/lathe.ini
@@ -0,0 +1,204 @@
+# 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 of this INI file
+VERSION = 1.0
+
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-HAL-SIM-LATHE
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+# DEBUG =               0x7FFFFFFF
+DEBUG = 0
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+
+# Name of display program, e.g., xlinuxcnc
+DISPLAY =             axis
+PYVCP = lathe.xml
+LATHE = 1
+EDITOR = gedit
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.100
+
+# Path to help file
+HELP_FILE =             doc/help.txt
+
+# Initial display setting for position, RELATIVE or MACHINE
+POSITION_OFFSET =       RELATIVE
+
+# Initial display setting for position, COMMANDED or ACTUAL
+POSITION_FEEDBACK =     ACTUAL
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.2
+MAX_SPINDLE_OVERRIDE =  1.0
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files
+OPEN_FILE = ../../nc_files/examples/lathe_pawn.ngc
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+USER_COMMAND_FILE = ~/.axisrc
+[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 = python
+
+# Task controller section -----------------------------------------------------
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE = sim-lathe.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# Interval between tries to emcmot, in seconds
+COMM_WAIT =             0.010
+
+# Base task period, in nano-seconds - this is the fastest thread in the machine
+BASE_PERIOD =               50000
+# Servo task period, in nano-seconds - will be rounded to an integer multiple
+#   of BASE_PERIOD
+SERVO_PERIOD =               1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+
+# The run script first uses halcmd to execute any HALFILE
+# files, and then to execute any individual HALCMD commands.
+#
+
+# list of hal config files to run through halcmd
+# files are executed in the order in which they appear
+HALFILE = core_sim.hal
+HALFILE = axis_manualtoolchange.hal
+HALFILE = simulated_home.hal
+HALFILE = lathe.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =                    save neta
+
+# Single file that is executed after the GUI has started.  Only supported by
+# AXIS at this time (only AXIS creates a HAL component of its own)
+POSTGUI_HALFILE = lathe_postgui.hal
+
+[TRAJ]
+SPINDLES = 2
+COORDINATES =           X Z
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+CYCLE_TIME =            0.010
+DEFAULT_VELOCITY =      1.0
+MAX_VELOCITY =          3.333334
+DEFAULT_ACCELERATION =  20.0
+MAX_ACCELERATION =      20.0
+NO_FORCE_HOMING = 1
+# Axes sections ---------------------------------------------------------------
+
+# First axis
+[EMCIO]
+
+# Name of IO controller program, e.g., io
+EMCIO = 		io
+
+# cycle time, in seconds
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE = lathe.tbl
+TOOL_CHANGE_POSITION = 2 0 1
+TOOL_CHANGE_WITH_SPINDLE_ON = 1
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 3.333334
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  3.333334
+MAX_ACCELERATION =              20.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -10.0
+MAX_LIMIT =                     10.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1
+
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 3.333334
+MAX_ACCELERATION = 20.0
+
+[JOINT_1]
+# JOINT_1: not used, home immediately:
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_USE_INDEX = NO
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  3.333334
+MAX_ACCELERATION =              20.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -2.0
+MAX_LIMIT =                     4.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                5.0
+HOME_LATCH_VEL =                 1.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+# section for main IO controller parameters -----------------------------------