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jepler merged 2 commits into from
Jul 2, 2022
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docs: More changes triggered while translating #1784

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More changes performed while translating
smoe Jun 29, 2022
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More changes triggered while translating.
smoe Jul 1, 2022
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4 changes: 2 additions & 2 deletions docs/html/gcode.html
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Expand Up @@ -39,12 +39,12 @@
tr.odd td { background: #d9d9d9; }
tr.head td, tr.head th { background: black; color: white; }
--></STYLE>
<TITLE>LinuxCNC "G-Code" Quick Reference</TITLE>
<TITLE>LinuxCNC "G-code" Quick Reference</TITLE>
</HEAD>

<BODY>
<TABLE ID=ref1>
<CAPTION> LinuxCNC "G-Code" Quick Reference </CAPTION>
<CAPTION> LinuxCNC "G-code" Quick Reference </CAPTION>
<COL id="group"> <COL id="code"> <COL id="params"> <COL id="description">
<TR id="titlerow"> <TH>Code <TH>Parameters <TH>Description </TR>
<TR><TH>Motion<TD COLSPAN=2 STYLE="border-bottom: 1px solid black">(X Y Z A B C U V W apply to all motions)</TR>
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4 changes: 2 additions & 2 deletions docs/src/config/iov2.adoc
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Expand Up @@ -14,7 +14,7 @@

I/O control handles I/O tasks like coolant, toolchange, e-stop and lube. The
signals are turned on and off in userspace with G-code or in the case of e-stop
in hal.
in HAL.

I/O Control V2 adds more toolchanger support for communication with the
toolchanger.
Expand All @@ -36,7 +36,7 @@ toolchanger.

* Consistent view of state: Both parties must have a consistent view of the
state at any point in time with respect to aborted versus completed, and tool
number and pocket
number and pocket.

* Handshaked signaling an abort/fault: an abort signaled by LinuxCNC to the
toolchanger, and a fault indicated from the toolchanger is handshaked to
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2 changes: 1 addition & 1 deletion docs/src/config/lathe-config.adoc
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Expand Up @@ -30,7 +30,7 @@ in the preamble of the G-code file.
The following .ini settings are needed for lathe mode in Axis in addition to
or replacing normal settings in the .ini file. These historical settings use
identity kinematics (trivkins) and 'three' joints (0,1,2) corresponding to
coordinates x,y,z. The joint 1 for the unused y axis is required but not used
coordinates x, y, z. The joint 1 for the unused y axis is required but not used
in these historical configurations. Simulated lathe configs may use these
historical settings.
Gmoccapy also uses the mentioned settings, but does offer additional settings,
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58 changes: 29 additions & 29 deletions docs/src/config/moveoff.adoc
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Expand Up @@ -10,11 +10,11 @@
:hal: {basebackend@docbook:'':hal}
:ngc: {basebackend@docbook:'':ngc}

The moveoff Hal component is a Hal-only method
The moveoff HAL component is a HAL-only method
for implementing offsets. See the manpage ('$ man moveoff')
for the IMPORTANT limitations and warnings.

The moveoff component is used to offset joint positions using custom Hal
The moveoff component is used to offset joint positions using custom HAL
connections. Implementing an offset-while-program-is-paused functionality is
supported with appropriate connections for the input pins. Nine joints are
supported.
Expand Down Expand Up @@ -64,20 +64,20 @@ limits) and an 'Error' message is issued.

[CAUTION]
If offsets are enabled and applied and the machine is turned off for any
reason, any 'external' Hal logic that manages the enabling pins and the
reason, any 'external' HAL logic that manages the enabling pins and the
offset-in-M inputs is responsible for their state when the machine is
subsequently turned on again.

This Hal-only means of offsetting is typically not known to LinuxCNC
This HAL-only means of offsetting is typically not known to LinuxCNC
nor available in GUI preview displays. *No protection is provided* for
offset moves that exceed soft limits managed by LinuxCNC. Since soft limits
are not honored, an offset move may encounter hard limits (or *CRASH* if
there are no limit switches). Use of the offset-min-M and offset-max-M inputs
to limit travel is recommended. Triggering a hard limit will turn off
the machine -- see *Caution* above.

The offset-in-M values may be set with inifile settings, controlled by a GUI,
or managed by other Hal components and connections. Fixed values may be
The offset-in-M values may be set with INI file settings, controlled by a GUI,
or managed by other HAL components and connections. Fixed values may be
appropriate in simple cases where the direction and amount of offset is
well-defined but a control method is required to deactivate an enabling
pin in order to return offsets to zero. GUIs may provide means for users to
Expand All @@ -86,34 +86,34 @@ set offset-in-M values to zero before deasserting an enabling pin.

The default values for accel, vel, min, max, epsilon, waypoint-sample-secs, and
waypoint-threshold may not be suitable for any particular application. This
Hal component is unaware of limits enforced elsewhere by LinuxCNC.
HAL component is unaware of limits enforced elsewhere by LinuxCNC.
Users should test usage in a simulator application and understand all
hazards before use on hardware.

Sim configurations that demonstrate the component and a
gui (moveoff_gui) are located in:
GUI (moveoff_gui) are located in:

* configs/sim/axis/moveoff (axis-ui)
* configs/sim/touchy/ngcgui (touchy-ui)

== Modifying an existing configuration

A system-provided halfile (LIB:hookup_moveoff.tcl) can be used to adapt an
existing configuration to use the moveoff component. Additional ini file
settings support the use of a simple gui (moveoff_gui) for controlling offsets.
A system-provided HAL file (LIB:hookup_moveoff.tcl) can be used to adapt an
existing configuration to use the moveoff component. Additional INI file
settings support the use of a simple GUI (moveoff_gui) for controlling offsets.

When the system halfile (LIB:hookup_moveoff.tcl) is properly specified in
a configuration ini file, it will:
When the system HAL file (LIB:hookup_moveoff.tcl) is properly specified in
a configuration INI file, it will:

. Disconnect the original joint.N.motor-pos-cmd and joint.N.motor-pos-fb pin
connections
. Load (loadrt) the moveoff component (using the name mv) with a personality
set to accommodate all axes identified in the ini file
set to accommodate all axes identified in the INI file
. Add (addf) the moveoff component functions in the required sequence
. Reconnect the joint.N.motor-pos-cmd and joint.N.motor-pos-fb pins to use
the moveoff component
. Set the moveoff component operating parameters and limits for each axis
in accordance with additional ini file settings
in accordance with additional INI file settings

Note: The moveoff_gui application supports configurations that use known
kinematics modules with KINEMATICS_TYPE=KINEMATICS_IDENTITY. Supported
Expand All @@ -123,10 +123,10 @@ to the corresponding joint.

Modify an existing configuration as follows:

Make sure there is an ini file entry for [HAL]HALUI and create a new
Make sure there is an INI file entry for [HAL]HALUI and create a new
[HAL]HALFILE entry for LIB:hookup_moveoff.tcl.
The entry for LIB:hookup_moveoff.tcl should follow all HALFILE= entries
for halfiles that connect the pins for joint.N.motor-pos-cmd,
for HAL files that connect the pins for joint.N.motor-pos-cmd,
joint.N.motor-pos-fb, and any components connected to these pins (pid
and encoder components in a servo system for instance).

Expand All @@ -140,7 +140,7 @@ HALFILE = existing_configuration_halfile_n
HALFILE = LIB:hookup_moveoff.tcl
----

Add ini file entries for the per-axis settings for each axis in use (if an
Add INI file entries for the per-axis settings for each axis in use (if an
entry is not defined, the corresponding entry from the [AXIS_n] section will be
used, if no entry is found, then the moveoff component default will be used).

Expand All @@ -157,7 +157,7 @@ MAX_VELOCITY =
MAX_ACCELERATION =
----

Add ini file entries for moveoff component settings (omit to use moveoff defaults):
Add INI file entries for moveoff component settings (omit to use moveoff defaults):

[source,{ini}]
----
Expand All @@ -168,7 +168,7 @@ WAYPOINT_THRESHOLD =
----

The moveoff_gui is used to make additional required connections and provide
a popup gui to:
a popup GUI to:

. Provide a control togglebutton to Enable/Disable offsets
. Provide a control togglebutton to Enable/Disable backtracking
Expand Down Expand Up @@ -197,29 +197,29 @@ The mv.apply-offsets is connected to halui.program.is-paused or set to 1
depending upon the command line option -mode [ onpause | always ]. A new signal
is automatically created if necessary.

To use the moveoff_gui, add an entry in the ini file [APPLICATIONS]
To use the moveoff_gui, add an entry in the INI file [APPLICATIONS]
section as follows:

[source,{ini}]
----
[APPLICATIONS]
# Note: a delay (specified in seconds) may be required if connections
# are made using postgui halfiles ([HAL]POSTGUI_HALFILE=)
# are made using postgui HAL files ([HAL]POSTGUI_HALFILE=)
DELAY = 0
APP = moveoff_gui option1 option2 ...
----

When the halfile LIB:hookup_moveoff.tcl is used to load and connect the
When the HAL file LIB:hookup_moveoff.tcl is used to load and connect the
moveoff component, the mv.move-enable pin will not be connected and
local controls provided by the moveoff_gui will be used. This is the
local controls provided by the moveoff_gui will be used. This is the
simplest method to test or demonstrate the moveoff component when
modifying an existing ini configuration.
modifying an existing INI configuration.

To enable external controls while using the moveoff_gui display
for offset values and status, halfiles that follow LIB:hookup_moveoff.tcl
for offset values and status, HAL files that follow LIB:hookup_moveoff.tcl
must make additional connections. For example, the supplied demonstration
configs (configs/sim/axis/moveoff/*.ini) use a simple system halfile
(named LIB:moveoff_external.hal) to connect the mv.move-enable,mv.offset-in-M,
configs (configs/sim/axis/moveoff/*.ini) use a simple system HAL file
(named LIB:moveoff_external.hal) to connect the mv.move-enable, mv.offset-in-M,
and mv.bactrack-enable pins to signals:

[source,{ini}]
Expand All @@ -246,7 +246,7 @@ net external_backtrack_en mv.backtrack-enable
----

These signals (external_enable, external_offset_M, external_backtrack_en) may
be managed by subsequent HALFILES (including POSTGUI_HALFILEs) to provide
be managed by subsequent HALFILES (including POSTGUI_HALFILEs) to provide
customized control of the component while using the moveoff_gui display
for current offset values and offset status.

Expand Down
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