inial commit
This commit is contained in:
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222
3040T.hal
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222
3040T.hal
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#Real Time Modules
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loadrt [KINS]KINEMATICS
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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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loadrt hal_parport cfg="0 out"
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setp parport.0.reset-time 5000
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loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,p
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loadrt ilowpass count=1
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loadrt timedelay count=2
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loadrt not count=1
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loadrt or2 count=3
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loadrt xor2 count=2
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loadrt mux2 count=1
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loadrt and2 count=1
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addf parport.0.read base-thread
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addf stepgen.make-pulses base-thread
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addf parport.0.write base-thread
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addf parport.0.reset base-thread
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addf stepgen.capture-position 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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addf stepgen.update-freq servo-thread
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#Pin Assignments
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net probe-in => motion.probe-input
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net estop-out => parport.0.pin-01-out
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net xstep => parport.0.pin-02-out
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setp parport.0.pin-02-out-reset 1
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net xdir => parport.0.pin-03-out
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net ystep => parport.0.pin-04-out
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setp parport.0.pin-04-out-reset 1
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net ydir => parport.0.pin-05-out
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net zstep => parport.0.pin-06-out
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setp parport.0.pin-06-out-reset 1
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setp parport.0.pin-07-out-invert 1
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net zdir => parport.0.pin-07-out
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net astep => parport.0.pin-16-out
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net adir => parport.0.pin-17-out
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net estop-ext <= parport.0.pin-10-in
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net min-home-x <= parport.0.pin-11-in-not
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net min-home-y <= parport.0.pin-12-in-not
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net max-home-z <= parport.0.pin-13-in-not
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net probe-in <= parport.0.pin-15-in-not
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#X-Axis
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setp stepgen.0.position-scale [JOINT_0]SCALE
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setp stepgen.0.steplen 1
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setp stepgen.0.stepspace 0
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setp stepgen.0.dirhold 36000
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setp stepgen.0.dirsetup 36000
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setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
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net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
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net xstep <= stepgen.0.step
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net xdir <= stepgen.0.dir
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net xenable joint.0.amp-enable-out => stepgen.0.enable
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net min-home-x => joint.0.home-sw-in
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net min-home-x => joint.0.neg-lim-sw-in
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#Y-Axis
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setp stepgen.1.position-scale [JOINT_1]SCALE
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setp stepgen.1.steplen 1
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setp stepgen.1.stepspace 0
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setp stepgen.1.dirhold 36000
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setp stepgen.1.dirsetup 36000
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setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
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net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
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net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
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net ystep <= stepgen.1.step
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net ydir <= stepgen.1.dir
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net yenable joint.1.amp-enable-out => stepgen.1.enable
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net min-home-y => joint.1.home-sw-in
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net min-home-y => joint.1.neg-lim-sw-in
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#Z-Axis
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setp stepgen.2.position-scale [JOINT_2]SCALE
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setp stepgen.2.steplen 1
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setp stepgen.2.stepspace 0
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setp stepgen.2.dirhold 36000
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setp stepgen.2.dirsetup 36000
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setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
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net zpos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
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net zpos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
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net zstep <= stepgen.2.step
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net zdir <= stepgen.2.dir
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net zenable joint.2.amp-enable-out => stepgen.2.enable
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net max-home-z => joint.2.home-sw-in
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net max-home-z => joint.2.pos-lim-sw-in
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#A-Axis
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setp stepgen.3.position-scale [JOINT_3]SCALE
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setp stepgen.3.steplen 1
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setp stepgen.3.stepspace 0
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setp stepgen.3.dirhold 36000
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setp stepgen.3.dirsetup 36000
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setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
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net astep <= stepgen.3.step
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net adir <= stepgen.3.dir
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net aenable joint.3.amp-enable-out => stepgen.3.enable
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#net apos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
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#net apos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
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net estop-out <= iocontrol.0.user-enable-out
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net estop-ext => iocontrol.0.emc-enable-in
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#Toolchanger
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loadusr -W hal_manualtoolchange
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net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
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net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
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net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
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net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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#CNCExtension
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loadusr -Wn cncextension ./cncextension
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#Amp enable
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net amp-enable halui.machine.is-on => cncextension.wr0
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#Spindle Control
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addf mux2.0 servo-thread
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net spindle-select => mux2.0.sel
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sets spindle-select 1
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net spindle-cmd-rpm <= spindle.0.speed-out
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net spindle-cmd-rpm => mux2.0.in0
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setp mux2.0.in1 0
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net spindle-axis-rpm mux2.0.out => stepgen.3.velocity-cmd
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addf and2.0 servo-thread
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net spindle-fwd-and spindle.0.forward => and2.0.in0
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net spindle-select => and2.0.in1
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net spindle-main-fwd <= and2.0.out
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net spindle-main-fwd => cncextension.ch0
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net spindle-main-fwd => cncextension.opt
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addf timedelay.0 servo-thread
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setp timedelay.0.on-delay 10
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setp timedelay.0.off-delay 0
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net spindle-main-fwd => timedelay.0.in
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net spindle-on-timer <= timedelay.0.out
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addf timedelay.1 servo-thread
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setp timedelay.1.on-delay 10
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setp timedelay.1.off-delay 0
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net spindle-main-break spindle.0.brake => timedelay.1.in
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net spindle-off-timer <= timedelay.1.out
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addf or2.0 servo-thread
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net spindle-on-timer => or2.0.in0
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net spindle-off-timer => or2.0.in1
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net spindle-main-inhibit <= or2.0.out
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addf or2.1 servo-thread
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addf not.0 servo-thread
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net spindle-select => not.0.in
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net spindle-select-neg <= not.0.out
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net spindle-select-neg => or2.1.in0
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net spindle-main-inhibit => or2.1.in1
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net spindle-inhibit <= or2.1.out
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net spindle-inhibit => spindle.0.at-speed
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net spindle-position <= stepgen.3.position-fb
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net spindle-position => spindle.0.revs
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net spindle-axis-rpm => spindle.0.speed-in
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net spindle-index-enable encoder.3.index-enable <=> spindle.0.index-enable
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#MPG
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setp joint.0.jog-vel-mode 0
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setp axis.x.jog-vel-mode 0
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setp joint.1.jog-vel-mode 0
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setp axis.y.jog-vel-mode 0
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setp joint.2.jog-vel-mode 0
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setp axis.z.jog-vel-mode 0
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setp joint.0.jog-scale 0.0001
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setp axis.x.jog-scale 0.0001
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setp joint.1.jog-scale 0.0001
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setp axis.y.jog-scale 0.0001
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setp joint.2.jog-scale 0.00005
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setp axis.z.jog-scale 0.00005
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net x_enable cncextension.xEnable => axis.x.jog-enable
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net y_enable cncextension.yEnable => axis.y.jog-enable
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net z_enable cncextension.zEnable => axis.z.jog-enable
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net raw-encoder-counts <= cncextension.encoder
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addf ilowpass.0 servo-thread
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setp ilowpass.0.scale 1024
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setp ilowpass.0.gain 0.01
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net raw-encoder-counts => ilowpass.0.in
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net encoder-counts <= ilowpass.0.out
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net encoder-counts => axis.x.jog-counts
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net encoder-counts => axis.y.jog-counts
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net encoder-counts => axis.z.jog-counts
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#Collisionavoid
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loadusr -Wn collisionavoid ./collisionavoid
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net xpos-abs-cmd joint.0.pos-cmd => collisionavoid.xaxis
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net ypos-abs-cmd joint.1.pos-cmd => collisionavoid.yaxis
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net zpos-abs-cmd joint.2.pos-cmd => collisionavoid.zaxis
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net collision-stop collisionavoid.stop => halui.estop.activate
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#Autolevel
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loadusr -Wn compensation python2 compensation.py probe-results.txt cubic
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net xpos-abs-cmd => compensation.x-pos
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net ypos-abs-cmd => compensation.y-pos
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net zpos-abs-cmd => compensation.z-pos
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net eoffset-enable compensation.enable-out => axis.z.eoffset-enable
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net eoffset-scale compensation.scale => axis.z.eoffset-scale
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net eoffset-counts compensation.counts => axis.z.eoffset-counts
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net eoffset-clear compensation.clear => axis.z.eoffset-clear
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191
3040T.ini
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191
3040T.ini
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@ -0,0 +1,191 @@
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# This config file was created 2021-03-12 16:42:08.823352 by the update_ini script
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# The original config files may be found in the /home/philipp/linuxcnc/configs/3040T/3040T.old directory
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[EMC]
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# The version string for this INI file.
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VERSION = 1.1
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MACHINE = 3040T
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DEBUG = 0
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[DISPLAY]
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DISPLAY = axis
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EDITOR = gedit
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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ARCDIVISION = 64
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GRIDS = 10mm 20mm 50mm 100mm
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MAX_FEED_OVERRIDE = 2
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MIN_SPINDLE_OVERRIDE = 0.5
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MAX_SPINDLE_OVERRIDE = 1.2
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DEFAULT_LINEAR_VELOCITY = 6.00
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MIN_LINEAR_VELOCITY = 0
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MAX_LINEAR_VELOCITY = 55
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DEFAULT_ANGULAR_VELOCITY = 40
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MAX_ANGULAR_VELOCITY = 250
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INTRO_GRAPHIC = ./UVOSBannerLCNC.gif
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INTRO_TIME = 5
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INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
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PYVCP=pannel.xml
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OPEN_FILE =""
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PROGRAM_PREFIX=/home/philipp/linuxcnc/nc_files
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale 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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[RS274NGC]
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PARAMETER_FILE = linuxcnc.var
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SUBROUTINE_PATH = /home/philipp/linuxcnc/configs/3040T
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USER_M_PATH = /home/philipp/linuxcnc/configs/3040T
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RS274NGC_STARTUP_CODE =G64 P0.1 s2400
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REMAP=M6 modalgroup=6 ngc=tool-change
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REMAP=M400 modalgroup=10 ngc=touchoff-z-to-bead
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REMAP=M600 modalgroup=6 ngc=tool-job-begin
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FEATURES=12
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 1.0
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BASE_PERIOD = 35000
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SERVO_PERIOD = 1000000
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.010
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[HAL]
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HALUI=halui
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HALFILE = 3040T.hal
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POSTGUI_HALFILE = custom_postgui.hal
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[HALUI]
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MDI_COMMAND = M600
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MDI_COMMAND = G0 X0 Y0
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MDI_COMMAND = G53 G0 X0 Y0 Z0
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MDI_COMMAND = G53 g0 z0
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MDI_COMMAND = G10 L20 p0 x0 y0 z0
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MDI_COMMAND = G10 L20 p0 x36.575 y-38.364
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MDI_COMMAND = G10 L2 p0 x261.3 y286.9
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MDI_COMMAND = M400
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MDI_COMMAND = o<rectangle_probe> call
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[TRAJ]
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COORDINATES = XYZA
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LINEAR_UNITS = mm
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 6.00
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MAX_LINEAR_VELOCITY = 60.00
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[EMCIO]
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EMCIO = io
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CYCLE_TIME = 0.100
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TOOL_TABLE = tool.tbl
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TOOL_CHANGE_AT_G30 = 0
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[KINS]
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KINEMATICS = trivkins coordinates=XYZA
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JOINTS = 4
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[AXIS_X]
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MIN_LIMIT = -0.001
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MAX_LIMIT = 290.0
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MAX_VELOCITY = 55
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MAX_ACCELERATION = 1500.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 55
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MAX_ACCELERATION = 1500.0
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STEPGEN_MAXACCEL = 1875.0
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SCALE = -400.0
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FERROR = 1
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MIN_FERROR = .25
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MIN_FERROR = 10.25
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MIN_LIMIT = -0.001
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MAX_LIMIT = 290.0
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HOME_OFFSET = -1.000000
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HOME_SEARCH_VEL = -20.000000
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HOME_LATCH_VEL = -1.250000
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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||||||
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[AXIS_Y]
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MIN_LIMIT = -0.001
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MAX_LIMIT = 395.0
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MAX_VELOCITY = 55
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MAX_ACCELERATION = 800.0
|
||||||
|
|
||||||
|
[JOINT_1]
|
||||||
|
TYPE = LINEAR
|
||||||
|
HOME = 0.0
|
||||||
|
MAX_VELOCITY = 55
|
||||||
|
MAX_ACCELERATION = 800.0
|
||||||
|
STEPGEN_MAXACCEL = 1250.0
|
||||||
|
SCALE = -400.0
|
||||||
|
FERROR = 1
|
||||||
|
MIN_FERROR = .25
|
||||||
|
MIN_LIMIT = -0.001
|
||||||
|
MAX_LIMIT = 395.0
|
||||||
|
BACKLASH = 0.01
|
||||||
|
HOME_OFFSET = -1.000000
|
||||||
|
HOME_SEARCH_VEL = -20.000000
|
||||||
|
HOME_LATCH_VEL = -1.250000
|
||||||
|
HOME_IGNORE_LIMITS = YES
|
||||||
|
HOME_SEQUENCE = 1
|
||||||
|
|
||||||
|
[AXIS_Z]
|
||||||
|
MIN_LIMIT = -75
|
||||||
|
MAX_LIMIT = 0.001
|
||||||
|
MAX_VELOCITY = 50
|
||||||
|
MAX_ACCELERATION = 2000.0
|
||||||
|
OFFSET_AV_RATIO = 0.2
|
||||||
|
|
||||||
|
[JOINT_2]
|
||||||
|
TYPE = LINEAR
|
||||||
|
HOME = 0.0
|
||||||
|
MAX_VELOCITY = 50
|
||||||
|
MAX_ACCELERATION = 2000.0
|
||||||
|
STEPGEN_MAXACCEL = 2500.0
|
||||||
|
SCALE = -400.0
|
||||||
|
FERROR = 1
|
||||||
|
MIN_FERROR = .25
|
||||||
|
MIN_LIMIT = -75
|
||||||
|
MAX_LIMIT = 0.001
|
||||||
|
HOME_OFFSET = 1.000000
|
||||||
|
HOME_SEARCH_VEL = 30.000000
|
||||||
|
HOME_LATCH_VEL = 1.250000
|
||||||
|
HOME_IGNORE_LIMITS = YES
|
||||||
|
HOME_SEQUENCE = 0
|
||||||
|
|
||||||
|
[AXIS_A]
|
||||||
|
MIN_LIMIT = -99999
|
||||||
|
MAX_LIMIT = 99999
|
||||||
|
MAX_VELOCITY = 3.33
|
||||||
|
MAX_ACCELERATION = 2000.0
|
||||||
|
|
||||||
|
[JOINT_3]
|
||||||
|
TYPE = ANGULAR
|
||||||
|
HOME = 0.0
|
||||||
|
MAX_VELOCITY = 3.33
|
||||||
|
MAX_ACCELERATION = 2000.0
|
||||||
|
STEPGEN_MAXACCEL = 2500.0
|
||||||
|
#SCALE = 4.6296 #old scale maybe accurate for absolute positon mode?
|
||||||
|
SCALE = 27.7776
|
||||||
|
FERROR = 1
|
||||||
|
MIN_FERROR = .25
|
||||||
|
MIN_LIMIT = -99999
|
||||||
|
MAX_LIMIT = 99999
|
||||||
|
SEARCH_VEL = 0
|
||||||
|
LATCH_VEL = 0
|
||||||
|
USE_INDEX = NO
|
||||||
|
HOME_SEQUENCE = 0
|
||||||
6
M100
Executable file
6
M100
Executable file
|
|
@ -0,0 +1,6 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
cd ~/linuxcnc/scannout/default
|
||||||
|
|
||||||
|
LAST=$(find . -maxdepth 1 -name "*.jpg" -type f -printf "%p\n" | sed -e s/.\\/out-//g -e s/.jpg//g | sort -g | tail -1)
|
||||||
|
cnccapture -D /dev/v4l/by-id/usb-Etron_Technology__Inc._XWJ200-video-index0 out-$(($LAST + 1)).jpg
|
||||||
4
M101
Executable file
4
M101
Executable file
|
|
@ -0,0 +1,4 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
rm ~/linuxcnc/scannout/default/* 2> /dev/null
|
||||||
|
exit 0
|
||||||
32
M102
Executable file
32
M102
Executable file
|
|
@ -0,0 +1,32 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
cd ~/linuxcnc/scannout/multiscan
|
||||||
|
|
||||||
|
if [ -p /tmp/CNCCaptureCtl ]
|
||||||
|
then
|
||||||
|
echo exit > /tmp/CNCCaptureCtl
|
||||||
|
sleep 2
|
||||||
|
fi
|
||||||
|
|
||||||
|
LAST=$(find . -maxdepth 1 -type d -printf "%p\n" | sed -e s/.\\///g | sort -g | tail -1)
|
||||||
|
|
||||||
|
re='^[0-9]+$'
|
||||||
|
if ! [[ $LAST =~ $re ]] ; then
|
||||||
|
LAST=0
|
||||||
|
fi
|
||||||
|
|
||||||
|
mkdir $(($LAST+1))
|
||||||
|
|
||||||
|
cnccapture -d -D /dev/v4l/by-id/usb-Etron_Technology__Inc._XWJ200-video-index0 ~/linuxcnc/scannout/multiscan/$(($LAST+1))/ &
|
||||||
|
|
||||||
|
sleep 3
|
||||||
|
|
||||||
|
for i in {1..600}
|
||||||
|
do
|
||||||
|
if [ -f /tmp/CNCCaptureRdy ]; then
|
||||||
|
break
|
||||||
|
else
|
||||||
|
sleep 0.1
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
|
||||||
24
M103
Executable file
24
M103
Executable file
|
|
@ -0,0 +1,24 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
ctlPipe=/tmp/CNCCaptureCtl
|
||||||
|
|
||||||
|
if [[ -p $ctlPipe ]]
|
||||||
|
then
|
||||||
|
echo snap > "$ctlPipe"
|
||||||
|
sleep 0.5
|
||||||
|
|
||||||
|
for i in {1..600}
|
||||||
|
do
|
||||||
|
sleep 0.1
|
||||||
|
if [ -f /tmp/CNCCaptureRdy ]; then
|
||||||
|
echo "redy"
|
||||||
|
break
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
|
||||||
|
exit 0
|
||||||
|
else
|
||||||
|
echo "no ctlPipe"
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
12
M104
Executable file
12
M104
Executable file
|
|
@ -0,0 +1,12 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
if [ -p /tmp/CNCCaptureCtl ]
|
||||||
|
then
|
||||||
|
echo exit > /tmp/CNCCaptureCtl
|
||||||
|
sleep 1
|
||||||
|
exit 0
|
||||||
|
else
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
|
||||||
BIN
UVOSBannerLCNC.gif
Normal file
BIN
UVOSBannerLCNC.gif
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 16 KiB |
232
compensation.py
Normal file
232
compensation.py
Normal file
|
|
@ -0,0 +1,232 @@
|
||||||
|
#!/usr/bin/env python2
|
||||||
|
"""Copyright (C) 2020 Scott Alford, scottalford75@gmail.com
|
||||||
|
|
||||||
|
This program is free software; you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU 2 General Public License as published by
|
||||||
|
the Free Software Foundation; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program; if not, write to the Free Software
|
||||||
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
"""
|
||||||
|
|
||||||
|
update = 0.025 # this is how often the z external offset value is updated based on current x & y position
|
||||||
|
safeOffset = 20
|
||||||
|
|
||||||
|
import sys
|
||||||
|
import os.path, time
|
||||||
|
import numpy as np
|
||||||
|
from scipy.interpolate import griddata
|
||||||
|
from enum import Enum, unique
|
||||||
|
|
||||||
|
import linuxcnc
|
||||||
|
|
||||||
|
@unique
|
||||||
|
class States(Enum):
|
||||||
|
START = 1
|
||||||
|
IDLE = 2
|
||||||
|
LOADMAP = 3
|
||||||
|
RUNNING = 4
|
||||||
|
RESET = 5
|
||||||
|
STOP = 6
|
||||||
|
|
||||||
|
|
||||||
|
class Compensation :
|
||||||
|
def __init__(self) :
|
||||||
|
self.comp = {}
|
||||||
|
if len(sys.argv)<2:
|
||||||
|
print "ERROR! No input file name specified!"
|
||||||
|
sys.exit()
|
||||||
|
|
||||||
|
self.filename = sys.argv[1]
|
||||||
|
self.method = sys.argv[2]
|
||||||
|
|
||||||
|
# default to cubic if not specified
|
||||||
|
if self.method == "" : self.methond = "cubic"
|
||||||
|
|
||||||
|
|
||||||
|
def loadMap(self) :
|
||||||
|
# data coordinates and values
|
||||||
|
self.data = np.loadtxt(self.filename, dtype=float, delimiter=" ", usecols=(0, 1, 2))
|
||||||
|
self.x_data = np.around(self.data[:,0],1)
|
||||||
|
self.y_data = np.around(self.data[:,1],1)
|
||||||
|
self.z_data = self.data[:,2]
|
||||||
|
|
||||||
|
# get the x and y, min and max values from the data
|
||||||
|
self.xMin = int(np.min(self.x_data))
|
||||||
|
self.xMax = int(np.max(self.x_data))
|
||||||
|
self.yMin = int(np.min(self.y_data))
|
||||||
|
self.yMax = int(np.max(self.y_data))
|
||||||
|
|
||||||
|
print " xMin = ", self.xMin
|
||||||
|
print " xMax = ", self.xMax
|
||||||
|
print " yMin = ", self.yMin
|
||||||
|
print " yMax = ", self.yMax
|
||||||
|
|
||||||
|
# target grid to interpolate to, 1 grid per mm
|
||||||
|
self.xSteps = (self.xMax-self.xMin)+1
|
||||||
|
self.ySteps = (self.yMax-self.yMin)+1
|
||||||
|
self.x = np.linspace(self.xMin, self.xMax, self.xSteps)
|
||||||
|
self.y = np.linspace(self.yMin, self.yMax, self.ySteps)
|
||||||
|
self.xi,self.yi = np.meshgrid(self.x,self.y)
|
||||||
|
print " xSteps = ", self.xSteps
|
||||||
|
print " ySteps = ", self.ySteps
|
||||||
|
print " x = ", self.x
|
||||||
|
|
||||||
|
# interpolate, zi has all the offset values but need to be transposed
|
||||||
|
self.zi = griddata((self.x_data,self.y_data),self.z_data,(self.xi,self.yi),method=self.method)
|
||||||
|
self.zi = np.transpose(self.zi)
|
||||||
|
|
||||||
|
|
||||||
|
def compensate(self) :
|
||||||
|
# get our nearest integer position
|
||||||
|
self.xpos = int(round(self.h['x-pos']))
|
||||||
|
self.ypos = int(round(self.h['y-pos']))
|
||||||
|
|
||||||
|
zo = safeOffset
|
||||||
|
|
||||||
|
if self.xpos >= self.xMin and self.xpos <= self.xMax and self.ypos >= self.yMin and self.ypos <= self.yMax :
|
||||||
|
self.Xn = self.xpos - self.xMin
|
||||||
|
self.Yn = self.ypos - self.yMin
|
||||||
|
|
||||||
|
# get the nearest compensation offset and convert to counts (s32) with a scale (float)
|
||||||
|
# Requested offset == counts * scale
|
||||||
|
zo = self.zi[self.Xn,self.Yn]
|
||||||
|
if np.isnan(zo) :
|
||||||
|
zo = safeOffset
|
||||||
|
|
||||||
|
self.scale = 0.001
|
||||||
|
compensation = int(zo / self.scale)
|
||||||
|
return compensation
|
||||||
|
|
||||||
|
|
||||||
|
def run(self) :
|
||||||
|
import hal, time
|
||||||
|
|
||||||
|
self.h = hal.component("compensation")
|
||||||
|
self.h.newpin("enable-in", hal.HAL_BIT, hal.HAL_IN)
|
||||||
|
self.h.newpin("enable-out", hal.HAL_BIT, hal.HAL_OUT)
|
||||||
|
self.h.newpin("scale", hal.HAL_FLOAT, hal.HAL_IN)
|
||||||
|
self.h.newpin("counts", hal.HAL_S32, hal.HAL_OUT)
|
||||||
|
self.h.newpin("clear", hal.HAL_BIT, hal.HAL_IN)
|
||||||
|
self.h.newpin("x-pos", hal.HAL_FLOAT, hal.HAL_IN)
|
||||||
|
self.h.newpin("y-pos", hal.HAL_FLOAT, hal.HAL_IN)
|
||||||
|
self.h.newpin("z-pos", hal.HAL_FLOAT, hal.HAL_IN)
|
||||||
|
self.h.newpin("fade-height", hal.HAL_FLOAT, hal.HAL_IN)
|
||||||
|
self.h.ready()
|
||||||
|
|
||||||
|
s = linuxcnc.stat()
|
||||||
|
|
||||||
|
currentState = States.START
|
||||||
|
prevState = States.STOP
|
||||||
|
|
||||||
|
try:
|
||||||
|
while True:
|
||||||
|
time.sleep(update)
|
||||||
|
|
||||||
|
# get linuxcnc task_state status for machine on / off transitions
|
||||||
|
s.poll()
|
||||||
|
|
||||||
|
if currentState == States.START :
|
||||||
|
if currentState != prevState :
|
||||||
|
print("\nCompensation entering START state")
|
||||||
|
prevState = currentState
|
||||||
|
|
||||||
|
# do start-up tasks
|
||||||
|
print(" %s last modified: %s" % (self.filename, time.ctime(os.path.getmtime(self.filename))))
|
||||||
|
|
||||||
|
prevMapTime = 0
|
||||||
|
|
||||||
|
self.h["counts"] = 0
|
||||||
|
|
||||||
|
# transition to IDLE state
|
||||||
|
currentState = States.IDLE
|
||||||
|
|
||||||
|
elif currentState == States.IDLE :
|
||||||
|
if currentState != prevState :
|
||||||
|
print("\nCompensation entering IDLE state")
|
||||||
|
prevState = currentState
|
||||||
|
|
||||||
|
# stay in IDLE state until compensation is enabled
|
||||||
|
if self.h["enable-in"] :
|
||||||
|
currentState = States.LOADMAP
|
||||||
|
|
||||||
|
elif currentState == States.LOADMAP :
|
||||||
|
if currentState != prevState :
|
||||||
|
print("\nCompensation entering LOADMAP state")
|
||||||
|
prevState = currentState
|
||||||
|
|
||||||
|
mapTime = os.path.getmtime(self.filename)
|
||||||
|
|
||||||
|
if mapTime != prevMapTime:
|
||||||
|
self.loadMap()
|
||||||
|
print(" Compensation map loaded")
|
||||||
|
prevMapTime = mapTime
|
||||||
|
|
||||||
|
# transition to RUNNING state
|
||||||
|
currentState = States.RUNNING
|
||||||
|
|
||||||
|
elif currentState == States.RUNNING :
|
||||||
|
if currentState != prevState :
|
||||||
|
print("\nCompensation entering RUNNING state")
|
||||||
|
prevState = currentState
|
||||||
|
|
||||||
|
if self.h["enable-in"] :
|
||||||
|
# enable external offsets
|
||||||
|
self.h["enable-out"] = 1
|
||||||
|
|
||||||
|
fadeHeight = self.h["fade-height"]
|
||||||
|
zPos = self.h["z-pos"]
|
||||||
|
|
||||||
|
if fadeHeight == 0 :
|
||||||
|
compScale = 1
|
||||||
|
elif zPos < fadeHeight:
|
||||||
|
compScale = (fadeHeight - zPos)/fadeHeight
|
||||||
|
if compScale > 1 :
|
||||||
|
compScale = 1
|
||||||
|
else :
|
||||||
|
compScale = 0
|
||||||
|
|
||||||
|
if s.task_state == linuxcnc.STATE_ON :
|
||||||
|
# get the compensation if machine power is on, else set to 0
|
||||||
|
# otherwise we loose compensation eoffset if machine power is cycled
|
||||||
|
# when copensation is enable
|
||||||
|
compensation = self.compensate()
|
||||||
|
self.h["counts"] = compensation * compScale
|
||||||
|
self.h["scale"] = self.scale
|
||||||
|
else :
|
||||||
|
self.h["counts"] = 0
|
||||||
|
|
||||||
|
else :
|
||||||
|
# transition to RESET state
|
||||||
|
currentState = States.RESET
|
||||||
|
|
||||||
|
elif currentState == States.RESET :
|
||||||
|
if currentState != prevState :
|
||||||
|
print("\nCompensation entering RESET state")
|
||||||
|
prevState = currentState
|
||||||
|
|
||||||
|
# reset the eoffsets counts register so we don't accumulate
|
||||||
|
self.h["counts"] = 0
|
||||||
|
# toggle the clear output
|
||||||
|
self.h["clear"] = 1;
|
||||||
|
time.sleep(0.1)
|
||||||
|
self.h["clear"] = 0;
|
||||||
|
|
||||||
|
# disable external offsets
|
||||||
|
#self.h["enable-out"] = 0
|
||||||
|
|
||||||
|
# transition to IDLE state
|
||||||
|
currentState = States.IDLE
|
||||||
|
|
||||||
|
except KeyboardInterrupt:
|
||||||
|
raise SystemExit
|
||||||
|
|
||||||
|
comp = Compensation()
|
||||||
|
comp.run()
|
||||||
55
custom_postgui.hal
Normal file
55
custom_postgui.hal
Normal file
|
|
@ -0,0 +1,55 @@
|
||||||
|
# Include your customized HAL commands here
|
||||||
|
# The commands in this file are run after the AXIS GUI (including PyVCP panel) starts
|
||||||
|
|
||||||
|
net mpg pyvcp.mpg-chkbtn => cncextension.enableMpg
|
||||||
|
|
||||||
|
#spindle
|
||||||
|
net spindle-select <= pyvcp.spindle-select.Milling
|
||||||
|
|
||||||
|
# Vacuume and coolant
|
||||||
|
addf xor2.0 servo-thread
|
||||||
|
net sigVacuumeBtn pyvcp.vacuume-chkbtn => xor2.0.in0
|
||||||
|
net sigIoctlFlood iocontrol.0.coolant-flood => xor2.0.in1
|
||||||
|
net vacuume <= xor2.0.out
|
||||||
|
net vacuume => cncextension.wr1
|
||||||
|
|
||||||
|
addf xor2.1 servo-thread
|
||||||
|
net sigAirBtn pyvcp.air-chkbtn => xor2.1.in0
|
||||||
|
net sigIoctlAir iocontrol.0.coolant-mist => xor2.1.in1
|
||||||
|
net air <= xor2.1.out
|
||||||
|
net air => cncextension.wr2
|
||||||
|
|
||||||
|
#alcohol
|
||||||
|
net alcohol pyvcp.alcohol-scale-i => cncextension.pwm
|
||||||
|
net alcoholPrime pyvcp.prime-chkbtn => cncextension.pwmPrime
|
||||||
|
|
||||||
|
net spindle-inhibit => pyvcp.feed-inhibit-led
|
||||||
|
|
||||||
|
addf or2.2 servo-thread
|
||||||
|
net touchoffall-btn pyvcp.touchoffall-btn => or2.2.in0
|
||||||
|
net button1 cncextension.button2 => or2.2.in1
|
||||||
|
|
||||||
|
net m600 halui.mdi-command-00 <= pyvcp.m600-btn
|
||||||
|
net g0x0y0 halui.mdi-command-01 <= pyvcp.x0y0-btn
|
||||||
|
net g53g0x0y0z0 halui.mdi-command-02 <= pyvcp.g53g0x0y0z0-btn
|
||||||
|
net g53g0z0 halui.mdi-command-03 <= pyvcp.g53g0z0-btn
|
||||||
|
net g10l20x0y0z0 halui.mdi-command-04 <= or2.2.out
|
||||||
|
net g10l20x20y20 halui.mdi-command-05 <= pyvcp.microscope-btn
|
||||||
|
net g53g10l20pin halui.mdi-command-06 <= pyvcp.touchoffpin-btn
|
||||||
|
net touchofzpin halui.mdi-command-07 <= pyvcp.touchofz-btn
|
||||||
|
|
||||||
|
#Collisionavoid
|
||||||
|
|
||||||
|
net collision-stop => pyvcp.collision-led
|
||||||
|
net chuck pyvcp.chuck-chkbtn => collisionavoid.chuck
|
||||||
|
setp pyvcp.chuck-chkbtn.changepin 1
|
||||||
|
|
||||||
|
#Autolevel
|
||||||
|
net levelpin pyvcp.level-chkbtn => compensation.enable-in
|
||||||
|
net runalprobe halui.mdi-command-08 <= pyvcp.alprobe-btn
|
||||||
|
|
||||||
|
#Autolevel spinbox display
|
||||||
|
net alprsx pyvcp.alprsx => pyvcp.alprsxDisp
|
||||||
|
net alprsy pyvcp.alprsy => pyvcp.alprsyDisp
|
||||||
|
net alintervl pyvcp.alintervl => pyvcp.alintervlDisp
|
||||||
|
net alheight pyvcp.alheight => pyvcp.alheightDisp
|
||||||
77
gcodeUtils/3dscann.ngc
Normal file
77
gcodeUtils/3dscann.ngc
Normal file
|
|
@ -0,0 +1,77 @@
|
||||||
|
%
|
||||||
|
(Workpice Settings)
|
||||||
|
#<Xsize> = 10
|
||||||
|
#<Ysize> = 10
|
||||||
|
#<Zsize> = 20
|
||||||
|
|
||||||
|
(Imaging Settings)
|
||||||
|
#<XStep> = 5
|
||||||
|
#<YStep> = 5
|
||||||
|
#<CameraOffset> = 5
|
||||||
|
|
||||||
|
(Milling Settings)
|
||||||
|
#<Feed> = 2000
|
||||||
|
#<Stepover> = 8
|
||||||
|
#<Stepdown> = 1
|
||||||
|
|
||||||
|
|
||||||
|
#<CurrentZ> = 0
|
||||||
|
|
||||||
|
g90
|
||||||
|
G64 P0.05
|
||||||
|
|
||||||
|
O010 while [[-1*#<Zsize>] LT #<CurrentZ>]
|
||||||
|
|
||||||
|
(MAKE IMAGES)
|
||||||
|
#1 = 0
|
||||||
|
#2 = 0
|
||||||
|
g0 z[#<CurrentZ>+#<CameraOffset>]
|
||||||
|
g0 x0y0
|
||||||
|
M102
|
||||||
|
|
||||||
|
|
||||||
|
O100 while [#1 LT [#<Ysize>]]
|
||||||
|
#2 = 0
|
||||||
|
g0 x0 y[#1]
|
||||||
|
M103
|
||||||
|
O101 while [#2 LT [#<Xsize>]]
|
||||||
|
#2 = [#2+#<XStep>]
|
||||||
|
g0 x[#2]
|
||||||
|
M103
|
||||||
|
O102 if [ #1 EQ 0 ]
|
||||||
|
#<XgridSize> = [#<XgridSize>+1]
|
||||||
|
O102 endif
|
||||||
|
O101 endwhile
|
||||||
|
#1 = [#1+#<YStep>]
|
||||||
|
#<YgridSize> = [#<YgridSize>+1]
|
||||||
|
O100 endwhile
|
||||||
|
M104
|
||||||
|
|
||||||
|
(AREA MILL)
|
||||||
|
G0 X0.0 Y0.0
|
||||||
|
M3
|
||||||
|
G4 P10
|
||||||
|
G1 F[#<Feed>] Z#<CurrentZ>
|
||||||
|
|
||||||
|
#1 = 0
|
||||||
|
O110 while [#1 LT #<Ysize>]
|
||||||
|
x0 y[#1]
|
||||||
|
G1 z#<CurrentZ>
|
||||||
|
x[#<Xsize>]
|
||||||
|
#1 = [#1+#<Stepover>]
|
||||||
|
G0 z[#<CurrentZ>+1]
|
||||||
|
O110 endwhile
|
||||||
|
|
||||||
|
O111 if [ #1 NE #<Ysize> ]
|
||||||
|
x0 y#<Ysize>
|
||||||
|
G1 z#<CurrentZ>
|
||||||
|
x[#<Xsize>]
|
||||||
|
G0 z[#<CurrentZ>+1]
|
||||||
|
O111 endif
|
||||||
|
|
||||||
|
m5
|
||||||
|
G4 P12
|
||||||
|
|
||||||
|
#<CurrentZ>=[#<CurrentZ>-#<Stepdown>]
|
||||||
|
O010 endwhile
|
||||||
|
%
|
||||||
29
gcodeUtils/AreaMill.ngc
Normal file
29
gcodeUtils/AreaMill.ngc
Normal file
|
|
@ -0,0 +1,29 @@
|
||||||
|
%
|
||||||
|
#<Feed> = 2500
|
||||||
|
#<Xsize> = 75
|
||||||
|
#<Ysize> = 90
|
||||||
|
#<Stepover> = 3
|
||||||
|
|
||||||
|
G91 G28 Z0
|
||||||
|
M3
|
||||||
|
G0 G90 X0.0 Y0.0 S2400
|
||||||
|
G0 z5
|
||||||
|
|
||||||
|
|
||||||
|
#1 = 0
|
||||||
|
O100 while [#1 LT #<Ysize>]
|
||||||
|
G1 F[#<Feed>] z0
|
||||||
|
x[#<Xsize>]
|
||||||
|
#1 = [#1+#<Stepover>]
|
||||||
|
G0 z5
|
||||||
|
x0 y[#1]
|
||||||
|
O100 endwhile
|
||||||
|
|
||||||
|
g1 z0
|
||||||
|
F[#<Feed>] x[#<Xsize>]
|
||||||
|
G0 z5
|
||||||
|
x0 y0
|
||||||
|
|
||||||
|
G91 G28 Z0
|
||||||
|
G90
|
||||||
|
%
|
||||||
33
gcodeUtils/XCut.ngc
Normal file
33
gcodeUtils/XCut.ngc
Normal file
|
|
@ -0,0 +1,33 @@
|
||||||
|
%
|
||||||
|
#<Feed> = 2000
|
||||||
|
#<Xsize> = 110
|
||||||
|
#<Depth> = 3
|
||||||
|
#<DPC> =1
|
||||||
|
|
||||||
|
(G91 G28 Z0)
|
||||||
|
G91 G28 Z0
|
||||||
|
G90
|
||||||
|
M3 s24000
|
||||||
|
G00 G90 X0.0 Y0.0
|
||||||
|
G0 z5
|
||||||
|
G1 F[#<Feed>]
|
||||||
|
|
||||||
|
|
||||||
|
#1 = 0
|
||||||
|
O100 while [#1 gt 0-[#<Depth>-#<DPC> ]]
|
||||||
|
#1 = [#1-#<DPC>]
|
||||||
|
G1 F[#<Feed>] z[#1]
|
||||||
|
x[#<Xsize>]
|
||||||
|
G0 z5
|
||||||
|
x0
|
||||||
|
O100 endwhile
|
||||||
|
|
||||||
|
G1 F[#<Feed>]
|
||||||
|
z[0-#<Depth>]
|
||||||
|
x[#<Xsize>]
|
||||||
|
G0 z5
|
||||||
|
x0
|
||||||
|
G91 G28 Z0
|
||||||
|
G90
|
||||||
|
M2
|
||||||
|
%
|
||||||
29
gcodeUtils/YCut.ngc
Normal file
29
gcodeUtils/YCut.ngc
Normal file
|
|
@ -0,0 +1,29 @@
|
||||||
|
%
|
||||||
|
#<Feed> = 2000
|
||||||
|
#<Ysize> = 110
|
||||||
|
#<Depth> = 3
|
||||||
|
#<DPC> =1
|
||||||
|
|
||||||
|
G91 G28 Z0
|
||||||
|
G00 G90 X0.0 Y0.0 S0
|
||||||
|
G0 z5
|
||||||
|
G1 F[#<Feed>]
|
||||||
|
|
||||||
|
|
||||||
|
#1 = 0
|
||||||
|
O100 while [#1 gt 0-[#<Depth>-#<DPC>]]
|
||||||
|
#1 = [#1-#<DPC>]
|
||||||
|
G1 F[#<Feed>] z[#1]
|
||||||
|
Y[#<Ysize>]
|
||||||
|
G0 z5
|
||||||
|
Y0
|
||||||
|
O100 endwhile
|
||||||
|
|
||||||
|
G1 F[#<Feed>]
|
||||||
|
z[0-#<Depth>]
|
||||||
|
Y[#<Ysize>]
|
||||||
|
G0 z5
|
||||||
|
Y0
|
||||||
|
G91 G28 Z0
|
||||||
|
G90
|
||||||
|
%
|
||||||
36
gcodeUtils/scann.ngc
Normal file
36
gcodeUtils/scann.ngc
Normal file
|
|
@ -0,0 +1,36 @@
|
||||||
|
%
|
||||||
|
#<Xsize> = 50
|
||||||
|
#<Ysize> = 50
|
||||||
|
#<XStep> = 5
|
||||||
|
#<YStep> = 5
|
||||||
|
|
||||||
|
#<XgridSize> = 0
|
||||||
|
#<YgridSize> = 0
|
||||||
|
|
||||||
|
#1 = 0
|
||||||
|
#2 = 0
|
||||||
|
|
||||||
|
M102
|
||||||
|
g90 g0 x0y0
|
||||||
|
|
||||||
|
O100 while [#1 LT [#<Ysize>]]
|
||||||
|
#2 = 0
|
||||||
|
g0 x0 y[#1]
|
||||||
|
M103
|
||||||
|
O101 while [#2 LT [#<Xsize>]]
|
||||||
|
#2 = [#2+#<XStep>]
|
||||||
|
g0 x[#2]
|
||||||
|
M103
|
||||||
|
O102 if [ #1 EQ 0 ]
|
||||||
|
#<XgridSize> = [#<XgridSize>+1]
|
||||||
|
O102 endif
|
||||||
|
O101 endwhile
|
||||||
|
#1 = [#1+#<YStep>]
|
||||||
|
#<YgridSize> = [#<YgridSize>+1]
|
||||||
|
O100 endwhile
|
||||||
|
|
||||||
|
M104
|
||||||
|
|
||||||
|
(DEBUG, #<XgridSize> by #<YgridSize>)
|
||||||
|
|
||||||
|
%
|
||||||
34
gcodeUtils/scannSync.ngc
Normal file
34
gcodeUtils/scannSync.ngc
Normal file
|
|
@ -0,0 +1,34 @@
|
||||||
|
%
|
||||||
|
#<Xsize> = 50
|
||||||
|
#<Ysize> = 50
|
||||||
|
#<XStep> = 5
|
||||||
|
#<YStep> = 5
|
||||||
|
|
||||||
|
#<XgridSize> = 0
|
||||||
|
#<YgridSize> = 0
|
||||||
|
|
||||||
|
#1 = 0
|
||||||
|
#2 = 0
|
||||||
|
|
||||||
|
M101
|
||||||
|
g90 g0 x0y0
|
||||||
|
|
||||||
|
O100 while [#1 LT [#<Ysize>]]
|
||||||
|
#2 = 0
|
||||||
|
g0 x0 y[#1]
|
||||||
|
M100
|
||||||
|
O101 while [#2 LT [#<Xsize>]]
|
||||||
|
#2 = [#2+#<XStep>]
|
||||||
|
g0 x[#2]
|
||||||
|
M100
|
||||||
|
O102 if [ #1 EQ 0 ]
|
||||||
|
#<XgridSize> = [#<XgridSize>+1]
|
||||||
|
O102 endif
|
||||||
|
O101 endwhile
|
||||||
|
#1 = [#1+#<YStep>]
|
||||||
|
#<YgridSize> = [#<YgridSize>+1]
|
||||||
|
O100 endwhile
|
||||||
|
|
||||||
|
(DEBUG, #<XgridSize> by #<YgridSize>)
|
||||||
|
|
||||||
|
%
|
||||||
0
microscopeTuchoff.ngc
Normal file
0
microscopeTuchoff.ngc
Normal file
73
rectangle_probe.ngc
Normal file
73
rectangle_probe.ngc
Normal file
|
|
@ -0,0 +1,73 @@
|
||||||
|
( Rectangular area probe )
|
||||||
|
o<rectangle_probe> sub
|
||||||
|
#<xmin> = 0
|
||||||
|
#<xmax> = #<_hal[pyvcp.alprsx]>
|
||||||
|
#<xinterval> = #<_hal[pyvcp.alintervl]>
|
||||||
|
#<ymin> = 0
|
||||||
|
#<ymax> = #<_hal[pyvcp.alprsy]>
|
||||||
|
#<yinterval> = #<_hal[pyvcp.alintervl]>
|
||||||
|
#<zsafe> = #<_hal[pyvcp.alheight]>
|
||||||
|
#<zprobe> = 0
|
||||||
|
#<probespeed> = 50
|
||||||
|
|
||||||
|
#<xsteps> = [fix [abs[#<xmax> - #<xmin>]/#<xinterval> + 1]]
|
||||||
|
#<ysteps> = [fix [abs[#<ymax> - #<ymin>]/#<yinterval> + 1]]
|
||||||
|
|
||||||
|
O1 if[[#<xsteps>*#<xinterval>-#<xinterval>] lt #<xmax>]
|
||||||
|
#<xsteps> = [#<xsteps> + 1]
|
||||||
|
O1 endif
|
||||||
|
O2 if[[#<ysteps>*#<yinterval>-#<yinterval>] lt #<ymax>]
|
||||||
|
#<ysteps> = [#<ysteps> + 1]
|
||||||
|
O2 endif
|
||||||
|
|
||||||
|
#<points> = [#<xsteps> * #<ysteps>]
|
||||||
|
|
||||||
|
(debug, Probing #<xsteps> * #<ysteps> = #<points> points)
|
||||||
|
(LOGOPEN,probe-results.txt)
|
||||||
|
|
||||||
|
#<yct> = 0
|
||||||
|
#<xct> = 0
|
||||||
|
G53 G0 Z0
|
||||||
|
G0 X0 Y0
|
||||||
|
G30.1
|
||||||
|
G0Z#<zsafe>
|
||||||
|
F#<probespeed>
|
||||||
|
|
||||||
|
O12 while [#<yct> lt #<ysteps>]
|
||||||
|
#<xct> = 0
|
||||||
|
#<ytarget> = [#<ymin>+#<yinterval>*#<yct>]
|
||||||
|
O13 if [#<ytarget> gt #<ymax>]
|
||||||
|
#<ytarget> = #<ymax>
|
||||||
|
O13 endif
|
||||||
|
G0 Y#<ytarget>
|
||||||
|
O14 while [#<xct> lt #<xsteps>]
|
||||||
|
#<xtarget> = 0
|
||||||
|
O15 if [[#<yct>/2] - fix[#<yct>/2] eq 0]
|
||||||
|
#<xtarget> = [#<xmin> + #<xinterval> * #<xct>]
|
||||||
|
O15 else
|
||||||
|
#<xtarget> = [#<xmin> + #<xinterval> * [#<xsteps> - #<xct> - 1]]
|
||||||
|
O15 endif
|
||||||
|
O16 if [#<xtarget> gt #<xmax>]
|
||||||
|
#<xtarget> = #<xmax>
|
||||||
|
O16 endif
|
||||||
|
#<probesuccess> = 1
|
||||||
|
G0 x#<xtarget>
|
||||||
|
G38.2Z#<zprobe> (probe until contact, toward work, with error)
|
||||||
|
G0z#<zsafe>
|
||||||
|
#<probex> = [#5061+#5181]
|
||||||
|
#<probey> = [#5062+#5182]
|
||||||
|
#<probez> = #5063
|
||||||
|
(LOG,#<probex> #<probey> #<probez>)
|
||||||
|
#<xct> = [#<xct> + 1]
|
||||||
|
O14 endwhile
|
||||||
|
G0Z#<zsafe>
|
||||||
|
#<yct> = [#<yct> + 1]
|
||||||
|
O12 endwhile
|
||||||
|
|
||||||
|
(LOG,# Finished: total points = #<points>)
|
||||||
|
(LOGCLOSE)
|
||||||
|
(debug, Finished: see probe-results.txt)
|
||||||
|
|
||||||
|
G0Z#<zsafe>
|
||||||
|
G0X#<xmin>Y#<ymin>
|
||||||
|
o<rectangle_probe> endsub
|
||||||
1
testpannel.hal
Normal file
1
testpannel.hal
Normal file
|
|
@ -0,0 +1 @@
|
||||||
|
loadusr pyvcp ./pannel.xml
|
||||||
96
tool-change.ngc
Normal file
96
tool-change.ngc
Normal file
|
|
@ -0,0 +1,96 @@
|
||||||
|
O<tool-change> SUB
|
||||||
|
|
||||||
|
#<_UseInches> = 0 ( set to 1 to use inches here, or 0 to use millimeters; should match units on tool.tbl dimensions )
|
||||||
|
#<_TravelZ> = 0 ( machine Z coordinate for travelling, typically near max Z to avoid ever hitting the work )
|
||||||
|
#<_TravelFeed> = 3000 ( feedrate used for general Z moves when avoiding G0 )
|
||||||
|
#<_ProbeX> = 9.5 ( machine X coordinate of switch/touch-off plate )
|
||||||
|
#<_ProbeY> = 24.5 ( machine Y coordinate of switch/touch-off plate )
|
||||||
|
#<_ProbeFastZ> = -20 ( machine Z coord to move to before starting probe, longest tool should not touch switch at this Z )
|
||||||
|
#<_ProbeMinZ> = -70 ( machine Z coord to stop probe, shortest tool must touch switch at this Z, must be > min Z )
|
||||||
|
#<_ProbeRetract> = 0.2 ( small distance to retract before approaching switch/touch-off plate second time )
|
||||||
|
#<_ProbeFastFeed> = 3000 ( feed rate for moving to _ProbeFastZ )
|
||||||
|
#<_ProbeFeed1> = 750 ( feed rate for touching switch/touch-off plate first time )
|
||||||
|
#<_ProbeFeed2> = 3 ( feed rate for touching switch/touch-off plate second time )
|
||||||
|
#<_ToolChangeX> = 100 ( machine X coordinate to pause at for manual tool changing )
|
||||||
|
#<_ToolChangeY> = 100 ( machine Y coordinate to pause at for manual tool changing )
|
||||||
|
#<_MistOnDuringProbe> = 0 ( set to 1 for mist, or 2 for coolant, or 0 for nothing during probing, to clear switch of swarf )
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
O100 IF [ EXISTS[#<_ToolDidReferance>] EQ 0 ]
|
||||||
|
#<_ToolDidReferance> = 0
|
||||||
|
O100 ENDIF
|
||||||
|
|
||||||
|
O101 IF [ EXISTS[#<_IgnoreFirstTool>] EQ 0 ]
|
||||||
|
#<_IgnoreFirstTool> = 0
|
||||||
|
O101 endif
|
||||||
|
|
||||||
|
O102 IF [ #<_IgnoreFirstTool> EQ 0 ]
|
||||||
|
#<_IgnoreFirstTool> = 1
|
||||||
|
O102 ELSE
|
||||||
|
M49 (disable spindle speed and feed rate override controls)
|
||||||
|
O105 IF [ #<_ToolDidReferance> EQ 0 ]
|
||||||
|
G49 ( clear tool length compensation prior to saving state if this is first time )
|
||||||
|
O105 ENDIF
|
||||||
|
(AXIS,hide)
|
||||||
|
M6 ( do the normal M6 stuff )
|
||||||
|
M70 ( save current modal state )
|
||||||
|
|
||||||
|
M9 ( turn off coolant, will be restored on return if it was on )
|
||||||
|
M5 ( turn off spindle, cannot be on during the probe )
|
||||||
|
G[21 - #<_UseInches>] ( use inches or millimeters as required here, units will be restored on return )
|
||||||
|
G30.1 ( save current position in #5181-#5183... )
|
||||||
|
G49 ( clear tool length compensation )
|
||||||
|
G90 ( use absolute positioning here )
|
||||||
|
G94 ( use feedrate in units/min )
|
||||||
|
G40 ( turn cutter radius compensation off here )
|
||||||
|
|
||||||
|
G53 G1 F[#<_TravelFeed>] Z[#<_TravelZ>] ( go to high travel level on Z )
|
||||||
|
|
||||||
|
O200 IF [ #<_ToolDidReferance> EQ 0 ]
|
||||||
|
G53 G0 X[#<_ProbeX>] Y[#<_ProbeY>] ( to probe switch )
|
||||||
|
G53 G1 F[#<_ProbeFastFeed>] Z[#<_ProbeFastZ>]( move tool closer to switch -- we shouldn't hit it )
|
||||||
|
G54 G1 F[#<_ProbeFeed1>] G91 ( use relative positioning )
|
||||||
|
O103 IF [ #<_MistOnDuringProbe> EQ 1 OR #<_MistOnDuringProbe> EQ 2 ]
|
||||||
|
M[7 + #<_MistOnDuringProbe> - 1] ( turn on mist/coolant )
|
||||||
|
O103 ENDIF
|
||||||
|
G38.2 Z[#<_ProbeMinZ> - #<_ProbeFastZ>] F[#<_ProbeFeed1>] ( trip switch slowly )
|
||||||
|
G0 Z[#<_ProbeRetract>] ( go up slightly )
|
||||||
|
G38.2 Z[#<_ProbeRetract>*-1.25] F[#<_ProbeFeed2>] ( trip switch very slowly )
|
||||||
|
M9 ( turn off mist )
|
||||||
|
G90 ( use absolute positioning )
|
||||||
|
#<_ToolZRef> = #5063 ( save trip point )
|
||||||
|
#<_ToolZLast> = #<_ToolZRef> ( save last tool Z position )
|
||||||
|
G53 G1 F[#<_TravelFeed>] Z[#<_TravelZ>] ( return to safe level )
|
||||||
|
#<_ToolDidReferance> = 1 ( we have been in this section to set reference value already )
|
||||||
|
G53 G0 X[#<_ToolChangeX>] Y[#<_ToolChangeY>] ( nice place for changing tool )
|
||||||
|
(MSG, SwitchTool )
|
||||||
|
M0 ( pause execution )
|
||||||
|
O200 ENDIF
|
||||||
|
|
||||||
|
G53 G0 X[#<_ProbeX>] Y[#<_ProbeY>] ( to high place directly over switch )
|
||||||
|
G53 G1 F[#<_ProbeFastFeed>] Z[#<_ProbeFastZ>]( move tool closer to switch -- we shouldn't hit it )
|
||||||
|
G54 G1 F[#<_ProbeFeed1>] G91 ( use relative positioning )
|
||||||
|
O104 IF [ #<_MistOnDuringProbe> EQ 1 OR #<_MistOnDuringProbe> EQ 2 ]
|
||||||
|
M[7 + #<_MistOnDuringProbe> - 1] ( turn on mist/coolant )
|
||||||
|
O104 ENDIF
|
||||||
|
G38.2 Z[#<_ProbeMinZ> - #<_ProbeFastZ>] F[#<_ProbeFeed1>] ( trip switch slowly )
|
||||||
|
G0 Z[#<_ProbeRetract>] ( go up slightly )
|
||||||
|
G38.2 Z[#<_ProbeRetract>*-1.25] F[#<_ProbeFeed2>] ( trip switch very slowly )
|
||||||
|
M9 ( turn off mist )
|
||||||
|
G90 ( use absolute positioning )
|
||||||
|
#<_ToolZ> = #5063 ( save new tool length )
|
||||||
|
G43.1 Z[#<_ToolZ> - #<_ToolZRef>] ( set new tool length Z offset, we do this now to show operator even though it has to be set again after M72 )
|
||||||
|
#<_ToolZLast> = #<_ToolZ> ( save last tool length )
|
||||||
|
G53 G0 Z[#<_TravelZ>] ( return to safe level )
|
||||||
|
G53 G0 X[#5181] Y[#5182] ( return to saved position )
|
||||||
|
G53 G0 Z[#5183]
|
||||||
|
M72 ( restore modal state )
|
||||||
|
M3
|
||||||
|
G43.1 Z[#<_ToolZ> - #<_ToolZRef>] ( set new tool length Z offset )
|
||||||
|
M48 (enable spindle speed and feed rate override controls)
|
||||||
|
(AXIS,show)
|
||||||
|
O102 ENDIF
|
||||||
|
|
||||||
|
O<tool-change> ENDSUB
|
||||||
|
M2
|
||||||
12
tool-job-begin.ngc
Normal file
12
tool-job-begin.ngc
Normal file
|
|
@ -0,0 +1,12 @@
|
||||||
|
O<tool-job-begin> SUB
|
||||||
|
( Filename: tool-job-begin.ngc )
|
||||||
|
( LinuxCNC Manual Tool-Change Subroutines for Milling Machines version 1.1: subroutine 2/2 )
|
||||||
|
( Intended to be run as a remapped M600 command. Used to indicate that the next tool change, M6, is the first tool of a job. )
|
||||||
|
|
||||||
|
#<_ToolDidFirst> = 0 ( new job, we haven't yet called <tool-change> for the first time )
|
||||||
|
#<_IgnoreFirstTool> = 0
|
||||||
|
#<_ToolDidReferance> = 0
|
||||||
|
G49 ( clear tool height adjustment )
|
||||||
|
|
||||||
|
O<tool-job-begin> ENDSUB
|
||||||
|
M2
|
||||||
15
tool.tbl
Normal file
15
tool.tbl
Normal file
|
|
@ -0,0 +1,15 @@
|
||||||
|
T1 P1 D2 Z0
|
||||||
|
T2 P2 D2 Z0
|
||||||
|
T3 P3 D2 Z0
|
||||||
|
T4 P4 D2 Z0
|
||||||
|
T5 P5 D2 Z0
|
||||||
|
T6 P6 D2 Z0
|
||||||
|
T7 P7 D2 Z0
|
||||||
|
T8 P8 D2 Z0
|
||||||
|
T9 P9 D2 Z0
|
||||||
|
T10 P10 D2 Z0
|
||||||
|
T11 P11 D2 Z0
|
||||||
|
T12 P12 D2 Z0
|
||||||
|
T13 P13 D2 Z0
|
||||||
|
T14 P14 D2 Z0
|
||||||
|
|
||||||
38
touchoff-z-to-bead.ngc
Normal file
38
touchoff-z-to-bead.ngc
Normal file
|
|
@ -0,0 +1,38 @@
|
||||||
|
o<touchoff-z-to-Bead> sub
|
||||||
|
#<_TravelZ> = 0 ( machine Z coordinate for travelling, typically near max Z to avoid ever hitting the work )
|
||||||
|
#<_ProbeX> = 9.5 ( machine X coordinate of switch/touch-off plate )
|
||||||
|
#<_ProbeY> = 24.5 ( machine Y coordinate of switch/touch-off plate )
|
||||||
|
#<_ProbeFastZ> = -20 ( machine Z coord to move to before starting probe, longest tool should not touch switch at this Z )
|
||||||
|
#<_ProbeMinZ> = -70 ( machine Z coord to stop probe, shortest tool must touch switch at this Z, must be > min Z )
|
||||||
|
#<_ProbeRetract> = 0.2 ( small distance to retract before approaching switch/touch-off plate second time )
|
||||||
|
#<_ProbeFastFeed> = 3000 ( feed rate for moving to _ProbeFastZ )
|
||||||
|
#<_ProbeFeed1> = 750 ( feed rate for touching switch/touch-off plate first time )
|
||||||
|
#<_ProbeFeed2> = 3 ( feed rate for touching switch/touch-off plate second time )
|
||||||
|
|
||||||
|
#<_ProbeToBeadZ> = 13.1
|
||||||
|
|
||||||
|
m73
|
||||||
|
G30.1 ( save current position in #5181-#5183... )
|
||||||
|
G49 ( clear tool length compensation )
|
||||||
|
G90 ( use absolute positioning here )
|
||||||
|
G94 ( use feedrate in units/min )
|
||||||
|
G40 ( turn cutter radius compensation off here )
|
||||||
|
G54 (use coordinate system 1)
|
||||||
|
M49 (disable spindle speed and feed rate override controls)
|
||||||
|
G53 G0 Z[#<_TravelZ>] ( go to high travel level on Z )
|
||||||
|
G53 G0 X[#<_ProbeX>] Y[#<_ProbeY>] ( to probe switch )
|
||||||
|
G53 G1 F[#<_ProbeFastFeed>] Z[#<_ProbeFastZ>] ( move tool closer to switch -- we shouldn't hit it )
|
||||||
|
G54 G1 F[#<_ProbeFeed1>] G91 ( use relative positioning )
|
||||||
|
|
||||||
|
G38.2 Z[#<_ProbeMinZ> - #<_ProbeFastZ>] F[#<_ProbeFeed1>] ( trip switch slowly )
|
||||||
|
G0 Z[#<_ProbeRetract>] ( go up slightly )
|
||||||
|
G38.2 Z[#<_ProbeRetract>*-1.25] F[#<_ProbeFeed2>] ( trip switch very slowly )
|
||||||
|
G90 ( use absolute positioning )
|
||||||
|
G10 L20 p0 z[#<_ProbeToBeadZ>]
|
||||||
|
(DEBUG, #5063)
|
||||||
|
G53 G0 Z[#<_TravelZ>] ( return to safe level )
|
||||||
|
G53 G0 X[#5181] Y[#5182]
|
||||||
|
G53 G0 Z[#5183]
|
||||||
|
M48 (enable spindle speed and feed rate override controls)
|
||||||
|
o<touchoff-z-to-Bead> endsub
|
||||||
|
M2
|
||||||
Loading…
Reference in a new issue