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1) Added new switchable kinematics
2) TrivKins is back to original 3) Added parameters P and Q along with G12.1 4) Added wait for interp while G12 is executed
1 parent 71aca0e commit 60cab25

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‎configs/sim/axis/g12.halshow‎

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pin+joint.0.pos-cmd pin+joint.0.pos-fb pin+joint.1.pos-cmd pin+joint.1.pos-fb pin+joint.4.pos-cmd pin+joint.4.pos-fb pin+axis.x.pos-cmd pin+axis.y.pos-cmd pin+axis.c.pos-cmd pin+axis.z.pos-cmd pin+axis.a.pos-cmd pin+joint.2.pos-cmd pin+joint.2.pos-fb pin+joint.3.pos-cmd pin+joint.3.pos-fb

‎configs/sim/axis/switchKinsAxis_mm.ini‎

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# EMC controller parameters for a simulated machine.
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# General note: Comments can either be preceded with a # or ; - either is
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# acceptable, although # is in keeping with most linux config files.
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# General section -------------------------------------------------------------
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[EMC]
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# Version of this INI file
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VERSION = 1.1
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# Name of machine, for use with display, etc.
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MACHINE = LinuxCNC-HAL-SIM-AXIS
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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# DEBUG = 0x7FFFFFFF
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DEBUG = 0
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# Sections for display options ------------------------------------------------
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[DISPLAY]
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# Name of display program, e.g., axis
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DISPLAY = axis
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.100
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# Path to help file
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HELP_FILE = doc/help.txt
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# Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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# Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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# Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 1.2
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MAX_SPINDLE_OVERRIDE = 1.0
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# Prefix to be used
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PROGRAM_PREFIX = ../../nc_files/
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# Introductory graphic
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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EDITOR = gedit
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INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode
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gif = image-to-gcode
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jpg = image-to-gcode
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py = python
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# Task controller section -----------------------------------------------------
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[TASK]
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# Name of task controller program, e.g., milltask
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TASK = milltask
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# Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.001
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# Part program interpreter section --------------------------------------------
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = sim_mm.var
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# Motion control section ------------------------------------------------------
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[EMCMOT]
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EMCMOT = motmod
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# Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
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BASE_PERIOD = 0
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# Servo task period, in nano-seconds
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SERVO_PERIOD = 1000000
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# section for main IO controller parameters -----------------------------------
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[EMCIO]
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# Name of IO controller program, e.g., io
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EMCIO = io
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# cycle time, in seconds
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CYCLE_TIME = 0.100
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# tool table file
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TOOL_TABLE = sim_mm.tbl
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TOOL_CHANGE_POSITION = 0 0 50.8
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# Hardware Abstraction Layer section --------------------------------------------------
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[HAL]
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# The run script first uses halcmd to execute any HALFILE
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# files, and then to execute any individual HALCMD commands.
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#
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# list of hal config files to run through halcmd
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# files are executed in the order in which they appear
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HALFILE = core_sim_5.hal
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HALFILE = sim_spindle_encoder.hal
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HALFILE = axis_manualtoolchange.hal
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HALFILE = simulated_home_5.hal
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# list of halcmd commands to execute
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# commands are executed in the order in which they appear
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#HALCMD = save neta
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# Single file that is executed after the GUI has started. Only supported by
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# AXIS at this time (only AXIS creates a HAL component of its own)
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#POSTGUI_HALFILE = test_postgui.hal
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HALUI = halui
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# Trajectory planner section --------------------------------------------------
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[TRAJ]
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COORDINATES = X Y Z A C
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LINEAR_UNITS = mm
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 30.48
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DEFAULT_ANGULAR_VELOCITY = 30.48
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MAX_LINEAR_VELOCITY = 53.34
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MAX_ANGULAR_VELOCITY = 53.34
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DEFAULT_LINEAR_ACCEL = 508
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DEFAULT_ANGULAR_ACCEL = 508
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MAX_LINEAR_ACCEL = 508
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MAX_ANGULAR_ACCEL = 508
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POSITION_FILE = position_mm.txt
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[KINS]
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KINEMATICS = switchKins
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JOINTS = 5
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# Axes sections ---------------
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[AXIS_X]
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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MIN_LIMIT = -254
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MAX_LIMIT = 254
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[AXIS_Y]
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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MIN_LIMIT = -254
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MAX_LIMIT = 254
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[AXIS_Z]
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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MIN_LIMIT = -50.8
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MAX_LIMIT = 101.6
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[AXIS_A]
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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MIN_LIMIT = -50.8
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MAX_LIMIT = 101.6
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[AXIS_C]
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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MIN_LIMIT = -50.8
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MAX_LIMIT = 101.6
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[AXIS_B]
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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MIN_LIMIT = -50.8
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MAX_LIMIT = 101.6
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# Joints sections -------------
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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BACKLASH = 0.000
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INPUT_SCALE = 157.48
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -254
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MAX_LIMIT = 254
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FERROR = 1.27
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MIN_FERROR = .254
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 127
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HOME_LATCH_VEL = 25.4
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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HOME_IS_SHARED = 1
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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BACKLASH = 0.000
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INPUT_SCALE = 157.48
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -254
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MAX_LIMIT = 254
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FERROR = 1.27
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MIN_FERROR = .254
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 127
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HOME_LATCH_VEL = 25.4
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 508
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BACKLASH = 0.000
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INPUT_SCALE = 157.48
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -50.8
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MAX_LIMIT = 101.6
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FERROR = 1.27
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MIN_FERROR = .254
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HOME_OFFSET = 25.4
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HOME_SEARCH_VEL = 127
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HOME_LATCH_VEL = 25.4
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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HOME_IS_SHARED = 1
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[JOINT_3]
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TYPE = ANGULAR
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MAX_VELOCITY = 60
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MAX_ACCELERATION = 508
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MIN_LIMIT = -120
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MAX_LIMIT = 120
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 2
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[JOINT_4]
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TYPE = ANGULAR
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MAX_VELOCITY = 60
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MAX_ACCELERATION = 508
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MIN_LIMIT = -36000
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MAX_LIMIT = 36000
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 2
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[JOINT_5]
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TYPE = ANGULAR
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MAX_VELOCITY = 60
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MAX_ACCELERATION = 508
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MIN_LIMIT = -36000
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MAX_LIMIT = 36000
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 2

‎lib/hallib/core_sim_5.hal‎

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# core HAL config file for simulation
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# first load all the RT modules that will be needed
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# kinematics
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loadrt [KINS]KINEMATICS
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# motion controller, get name and thread periods from ini file
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loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
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# load 6 differentiators (for velocity and accel signals
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loadrt ddt names=ddt_x,ddt_xv,ddt_y,ddt_yv,ddt_z,ddt_zv
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# load additional blocks
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loadrt hypot names=vel_xy,vel_xyz
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# add motion controller functions to servo thread
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addf motion-command-handler servo-thread
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addf motion-controller servo-thread
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# link the differentiator functions into the code
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addf ddt_x servo-thread
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addf ddt_xv servo-thread
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addf ddt_y servo-thread
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addf ddt_yv servo-thread
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addf ddt_z servo-thread
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addf ddt_zv servo-thread
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addf vel_xy servo-thread
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addf vel_xyz servo-thread
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# create HAL signals for position commands from motion module
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# loop position commands back to motion module feedback
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net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in
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net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in
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net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in
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net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
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net Cpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb
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# send the position commands thru differentiators to
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# generate velocity and accel signals
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net Xvel ddt_x.out => ddt_xv.in vel_xy.in0
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net Xacc <= ddt_xv.out
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net Yvel ddt_y.out => ddt_yv.in vel_xy.in1
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net Yacc <= ddt_yv.out
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net Zvel ddt_z.out => ddt_zv.in vel_xyz.in0
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net Zacc <= ddt_zv.out
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# Cartesian 2- and 3-axis velocities
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net XYvel vel_xy.out => vel_xyz.in1
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net XYZvel <= vel_xyz.out
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# estop loopback
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net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
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# create signals for tool loading loopback
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net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
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net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
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‎lib/hallib/simulated_home_5.hal‎

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loadrt or2 names=or2_0
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loadrt comp names=comp_x,comp_y,comp_z,comp_a,comp_b
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net Xhomeswpos => comp_x.in0
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net Yhomeswpos => comp_y.in0
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net Zhomeswpos => comp_z.in0
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net Ahomeswpos => comp_a.in0
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net Bhomeswpos => comp_b.in0
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sets Xhomeswpos 1
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sets Yhomeswpos .5
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sets Zhomeswpos 2
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sets Ahomeswpos 2
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sets Bhomeswpos 2
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net Xpos => comp_x.in1
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net Ypos => comp_y.in1
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net Zpos => comp_z.in1
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net Apos => comp_a.in1
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net Bpos => comp_b.in1
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setp comp_x.hyst .02
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setp comp_y.hyst .02
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setp comp_z.hyst .02
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setp comp_a.hyst .02
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setp comp_b.hyst .02
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net Xhomesw <= comp_x.out
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net Yhomesw <= comp_y.out => joint.1.home-sw-in
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net Zhomesw <= comp_z.out
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net Ahomesw <= comp_a.out => joint.3.home-sw-in
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net Bhomesw <= comp_b.out => joint.4.home-sw-in
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net Xhomesw => or2_0.in0
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net Zhomesw => or2_0.in1
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net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
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addf comp_x servo-thread
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addf comp_y servo-thread
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addf comp_z servo-thread
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addf comp_a servo-thread
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addf comp_b servo-thread
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addf or2_0 servo-thread

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