Multiaxis kinematics and limits

configs/sim/axis/vismach/5axis/bridgemill/g532-fused-orient-move.ngc

@@ -36,7 +36,7 @@ o210      else
 o210      endif
           g68.2 p1 j[90-#<b>] k#<c>  ; plane Z is the sphere radius at b, c
           g53.2                      ; solve the orientation, stay put
-          g0 x0 y0 z[#<r>+#<rdelta>] b#<_orient_b> c#<_orient_c> ; one TCP turn and travel
+          g0 x0 y0 z[#<r>+#<rdelta>] b#<_orient_rot2> c#<_orient_rot1> ; one TCP turn and travel, C orients first
           g1 z[#<r>+#<drilldepth>]
           g0 z[#<r>+#<rdelta>]
           #<cct> = [#<cct>+1]

configs/sim/axis/vismach/puma/mcodes/M128

@@ -9,12 +9,11 @@ emc_init -ini $::env(INI_FILE_NAME) -quick
 package require Hal
 parse_ini $::env(INI_FILE_NAME)
 
-# RESTORE INI axis limits
+# RESTORE INI axis velocity and acceleration limits (the position
+# limits are never changed: a box on the machine frame, the flange)
 foreach l $coords {
   set L [string toupper $l]
-  catch {hal setp ini.$l.min_limit        [set ::AXIS_[set L](MIN_LIMIT)]}
-  catch {hal setp ini.$l.max_limit        [set ::AXIS_[set L](MAX_LIMIT)]}
-  catch {hal setp ini.$l.min_velocity     [set ::AXIS_[set L](MAX_VELOCITY)]}
+  catch {hal setp ini.$l.max_velocity     [set ::AXIS_[set L](MAX_VELOCITY)]}
   catch {hal setp ini.$l.max_acceleration [set ::AXIS_[set L](MAX_ACCELERATION)]}
 }
 

configs/sim/axis/vismach/puma/mcodes/M129

@@ -1,5 +1,5 @@
 #!/usr/bin/tclsh
-# switch kinematics and change axis limits to equiv joint limits
+# switch kinematics and change axis velocity limits to equiv joint limits
 set kinstype       1     ;# 1: IDENTITY kins
 set switchkins_pin 3     ;# agree with inifile
 set max_joints     6     ;# agree with inifile
@@ -10,11 +10,12 @@ emc_init -ini $::env(INI_FILE_NAME) -quick
 package require Hal
 parse_ini $::env(INI_FILE_NAME)
 
-# SET axis limits for IDENTITY kins using INI joint limits
+# SET axis velocity and acceleration limits for IDENTITY kins using
+# INI joint limits.  The position limits stay: they are a box on the
+# machine frame, the flange, which motion reads through the arm
+# kinematics whatever type is in force
 for {set j 0} {$j < $max_joints} {incr j} {
   set l [lindex $coords $j]
-  catch {hal setp ini.$l.min_limit        [set ::JOINT_[set j](MIN_LIMIT)]}
-  catch {hal setp ini.$l.max_limit        [set ::JOINT_[set j](MAX_LIMIT)]}
   catch {hal setp ini.$l.max_velocity     [set ::JOINT_[set j](MAX_VELOCITY)]}
   catch {hal setp ini.$l.max_acceleration [set ::JOINT_[set j](MAX_ACCELERATION)]}
 }

configs/sim/axis/vismach/puma/mcodes/M130

@@ -1,5 +1,5 @@
 #!/usr/bin/tclsh
-# switch kinematics and change axis limits
+# switch kinematics and change axis velocity limits
 set kinstype       2     ;# 2: TYPE 2 kins
 set switchkins_pin 3     ;# agree with inifile
 set max_joints     6     ;# agree with inifile
@@ -10,11 +10,12 @@ emc_init -ini $::env(INI_FILE_NAME) -quick
 package require Hal
 parse_ini $::env(INI_FILE_NAME)
 
-# SET axis limits for IDENTITY kins using INI joint limits
+# SET axis velocity and acceleration limits for IDENTITY kins using
+# INI joint limits.  The position limits stay: they are a box on the
+# machine frame, the flange, which motion reads through the arm
+# kinematics whatever type is in force
 for {set j 0} {$j < $max_joints} {incr j} {
   set l [lindex $coords $j]
-  catch {hal setp ini.$l.min_limit        [set ::JOINT_[set j](MIN_LIMIT)]}
-  catch {hal setp ini.$l.max_limit        [set ::JOINT_[set j](MAX_LIMIT)]}
   catch {hal setp ini.$l.max_velocity     [set ::JOINT_[set j](MAX_VELOCITY)]}
   catch {hal setp ini.$l.max_acceleration [set ::JOINT_[set j](MAX_ACCELERATION)]}
 }

configs/sim/axis/vismach/puma/puma.ini

@@ -33,7 +33,7 @@ RS274NGC_STARTUP_CODE = G21 G10L2P0 x450 y100 z-495 a-180 (debug, ini: startup o
 MDI_COMMAND = M428
 MDI_COMMAND = M429
 MDI_COMMAND = M430
-# MDI-COMMANDS 03,04,05 ALTER limits when switching
+# MDI-COMMANDS 03,04,05 ALTER velocity and acceleration limits when switching
 MDI_COMMAND = M128
 MDI_COMMAND = M129
 MDI_COMMAND = M130

configs/sim/axis/vismach/puma/puma560.ini

@@ -36,7 +36,7 @@ PARAMETER_FILE  = puma560.var
 MDI_COMMAND = M428
 MDI_COMMAND = M429
 MDI_COMMAND = M430
-# MDI-COMMANDS 03,04,05 ALTER limits when switching
+# MDI-COMMANDS 03,04,05 ALTER velocity and acceleration limits when switching
 MDI_COMMAND = M128
 MDI_COMMAND = M129
 MDI_COMMAND = M130

configs/sim/axis/vismach/puma/puma560_uvw.ini

@@ -35,7 +35,7 @@ PARAMETER_FILE  = puma560.var
 MDI_COMMAND = M428
 MDI_COMMAND = M429
 MDI_COMMAND = M430
-# MDI-COMMANDS 03,04,05 ALTER limits when switching
+# MDI-COMMANDS 03,04,05 ALTER velocity and acceleration limits when switching
 MDI_COMMAND = M128
 MDI_COMMAND = M129
 MDI_COMMAND = M130

configs/sim/axis/vismach/puma/puma_cube.ini

@@ -113,7 +113,7 @@ POSTGUI_HALFILE = puma_postgui.hal
 MDI_COMMAND = M428
 MDI_COMMAND = M429
 MDI_COMMAND = M430
-# MDI-COMMANDS 03,04,05 ALTER limits when switching
+# MDI-COMMANDS 03,04,05 ALTER velocity and acceleration limits when switching
 MDI_COMMAND = M128
 MDI_COMMAND = M129
 MDI_COMMAND = M130

configs/sim/axis/vismach/twinspindle/README

@@ -0,0 +1,37 @@
+A mill-turn with a tilting head between two spindles, on twinspindlekins.
+
+The head carries the tool on X Y Z and tilts it on B, about Y. The main
+spindle turns its part on C; the sub spindle faces it along Z, 500 away,
+and turns its own part on W. W is an angle, so [AXIS_W] declares it
+TYPE = ANGULAR, and both spindles are WRAPPED_ROTARY. The vismach window
+draws the spindle line across the screen as on a lathe: main spindle on
+the left, Z to the right, X up.
+
+Kinematics type 0 works on the part in the main spindle and orients the
+tool with C and B; type 1 works on the part in the sub spindle and orients
+it with W and B. Each part's frame has its Z out of its own spindle's face,
+so a program reads the same on either part. Type 2 is the identity, the
+machine frame, which G13.1 selects.
+
+The INI sets MACHINE_MOVES_IN_MACHINE_FRAME, so G53, G28 and G30 move
+the slides in that machine frame whichever spindle's type is in force.
+
+Demo program:
+
+ twin-spindle-holes.ngc -- one subroutine drills a ring of six holes,
+                           each tilted 20 degrees out from the part axis,
+                           into the face of the part the kinematics type
+                           in force works on; the program runs it on the
+                           main spindle (G12.1 P0, G54) and then on the
+                           sub spindle (G12.1 P1, G55). The subroutine
+                           names no rotary: G53.3 turns the ones the type
+                           orients with, and the report on the terminal
+                           reads them by number, #<_kins_orient_1> and
+                           #<_kins_orient_2>, 5 and 4 (C and B) on the
+                           main spindle, 8 and 4 (W and B) on the sub
+                           spindle, with their angles #<_orient_rot1> and
+                           #<_orient_rot2>.
+
+The tool table provides tool 1, length 50. The drawing hands its pivot
+length and spindle distance to the kinematics (twinspindle.hal), so the
+two agree.

configs/sim/axis/vismach/twinspindle/twin-spindle-holes.ngc

@@ -0,0 +1,64 @@
+; twin-spindle-holes.ngc - one subroutine drills the same ring of tilted
+; holes into the part in the main spindle and into the part in the sub
+; spindle.
+;
+; Kinematics type 0 works on the main spindle's part and orients the tool
+; with C and B; type 1 works on the sub spindle's part and orients it with
+; W and B.  The subroutine names neither: G53.3 turns whatever rotaries the
+; type in force orients with, and the report reads them by number,
+; #<_kins_orient_1> and #<_kins_orient_2>, with their angles in the same
+; order, #<_orient_rot1> and #<_orient_rot2>.  Each part's frame has its Z
+; out of its own spindle, so both faces are at Z60 and the offsets read
+; the same.
+
+o<ring> sub
+  #<n> =  6 ; holes
+  #<r> = 30 ; hole circle radius on the face
+  #<t> = 20 ; tilt of each hole out from the part axis
+  #<i> =  0
+  o101 while [#<i> lt #<n>]
+    #<a> = [#<i> * 360 / #<n>]
+    ; the hole's plane: origin on the face, X along the hole circle,
+    ; Z the hole axis
+    g68.2 p3 q1 x[#<r>*cos[#<a>]] y[#<r>*sin[#<a>]] z0 i[-sin[#<a>]] j[cos[#<a>]] k0
+    g68.2 p3 q2 i[sin[#<t>]*cos[#<a>]] j[sin[#<t>]*sin[#<a>]] k[cos[#<t>]]
+    g53.2 ; solve the pose, report it
+    (print, hole #<i>: axis #<_kins_orient_1> to #<_orient_rot1>, axis #<_kins_orient_2> to #<_orient_rot2>)
+    g53.3 x0 y0 z5 ; orient and go, 5 above the hole
+    g1 z-10
+    g0 z5
+    #<i> = [#<i> + 1]
+  o101 endwhile
+  g0 z40
+  g69
+o<ring> endsub
+
+; from one part to the other in the machine frame, the identity type:
+; up, clear of both parts, and the head pointing down
+o<park> sub
+  g13.1
+  g53 g0 x300
+  g53 g0 z50 b90
+o<park> endsub
+
+g21 g90 g94 g17 g40
+t1 m6
+g43
+f300
+
+g10 l2 p1 x0 y0 z60 c0 w0 ; G54, the main spindle's part
+g10 l2 p2 x0 y0 z60 c0 w0 ; G55, the sub spindle's part
+
+o<park> call
+g12.1 p0 ; the main spindle's part
+g54
+o<ring> call
+
+o<park> call
+g12.1 p1 ; the sub spindle's part
+g55
+o<ring> call
+
+o<park> call
+g54
+m2

configs/sim/axis/vismach/twinspindle/twinspindle.hal

@@ -0,0 +1,15 @@
+loadusr -W ./twinspindlegui.py
+
+net :jx joint.0.pos-fb twinspindlegui.jx
+net :jy joint.1.pos-fb twinspindlegui.jy
+net :jz joint.2.pos-fb twinspindlegui.jz
+net :jb joint.3.pos-fb twinspindlegui.jb
+net :jc joint.4.pos-fb twinspindlegui.jc
+net :jw joint.5.pos-fb twinspindlegui.jw
+
+# the drawing and the kinematics share the geometry
+net :pivot-len        twinspindlegui.pivot_len        twinspindlekins.pivot-length
+net :spindle-distance twinspindlegui.spindle_distance twinspindlekins.spindle-distance
+
+net :tool-len  motion.tooloffset.z  twinspindlegui.tool_length
+net :tool-diam halui.tool.diameter  twinspindlegui.tool_diam

configs/sim/axis/vismach/twinspindle/twinspindle.ini

@@ -0,0 +1,166 @@
+[EMC]
+VERSION = 1.1
+MACHINE = Sim-twinspindlekins (XYZBCW mill-turn, two spindles)
+  DEBUG = 0
+
+[DISPLAY]
+# X Y Z are already the tip in the frame of the part the type works on, so
+# the plot takes them as they are: a rotary in GEOMETRY would turn them
+# again, and W, a translation there, would draw as a move along Z
+         GEOMETRY = XYZ
+          DISPLAY = axis
+        OPEN_FILE = ./twin-spindle-holes.ngc
+       INCREMENTS = 10 mm, 1 mm, .1 mm
+         JOG_AXES = XYZ
+       CYCLE_TIME = 0.100
+  POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2.0
+   PROGRAM_PREFIX = ../../nc_files/
+    INTRO_GRAPHIC = linuxcnc.gif
+       INTRO_TIME = 2
+      TOOL_EDITOR = tooledit z diam
+
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G17 G21 G40 G49 G54 G80 G90 G94 G97
+   PARAMETER_FILE = twinspindle.var
+# Off the machine frame kinematics (on either spindle's type), G53, G28 and
+# G30 move the slides in the machine frame, as G53.5, G28.5 and G30.5 do,
+# wherever the tool and the head point, and G28.1 and G30.1 store that
+# position.  Unset, they move in the world of the spindle's type.  See
+# MACHINE_MOVES_IN_MACHINE_FRAME in the INI file documentation.
+MACHINE_MOVES_IN_MACHINE_FRAME = 1
+
+[EMCMOT]
+      EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = twinspindle.hal
+
+[TRAJ]
+              COORDINATES = XYZBCW
+             LINEAR_UNITS = mm
+            ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 50.0
+    MAX_LINEAR_VELOCITY = 200.0
+MAX_LINEAR_ACCELERATION = 800.0
+DEFAULT_LINEAR_ACCELERATION = 800.0
+     MAX_ANGULAR_VELOCITY = 360.0
+
+[EMCIO]
+TOOL_TABLE = twinspindle.tbl
+
+[KINS]
+# type 0: the part in the main spindle, C and B orient
+# type 1: the part in the sub spindle, W and B orient
+# type 2: identity, the machine frame
+KINEMATICS = twinspindlekins
+    JOINTS = 6
+
+[AXIS_X]
+       MIN_LIMIT = -400
+       MAX_LIMIT =  500
+    MAX_VELOCITY =  200
+MAX_ACCELERATION =  800
+
+[AXIS_Y]
+       MIN_LIMIT = -300
+       MAX_LIMIT =  300
+    MAX_VELOCITY =  200
+MAX_ACCELERATION =  800
+
+[AXIS_Z]
+       MIN_LIMIT = -300
+       MAX_LIMIT =  800
+    MAX_VELOCITY =  200
+MAX_ACCELERATION =  800
+
+[AXIS_B]
+       MIN_LIMIT =  -30
+       MAX_LIMIT =  210
+    MAX_VELOCITY =   90
+MAX_ACCELERATION =  400
+
+# the main spindle
+[AXIS_C]
+  WRAPPED_ROTARY = 1
+       MIN_LIMIT = -1e9
+       MAX_LIMIT =  1e9
+    MAX_VELOCITY =  180
+MAX_ACCELERATION =  720
+
+# the sub spindle: an angle, so ANGULAR, however the letter reads
+[AXIS_W]
+            TYPE = ANGULAR
+  WRAPPED_ROTARY = 1
+       MIN_LIMIT = -1e9
+       MAX_LIMIT =  1e9
+    MAX_VELOCITY =  180
+MAX_ACCELERATION =  720
+
+# the joints home to the head over the middle, pointing down at the
+# spindle line, clear of both parts
+[JOINT_0]
+            TYPE = LINEAR
+    MAX_VELOCITY =  200
+MAX_ACCELERATION =  800
+       MIN_LIMIT = -400
+       MAX_LIMIT =  500
+            HOME =  300
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0
+
+[JOINT_1]
+            TYPE = LINEAR
+    MAX_VELOCITY =  200
+MAX_ACCELERATION =  800
+       MIN_LIMIT = -300
+       MAX_LIMIT =  300
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0
+
+[JOINT_2]
+            TYPE = LINEAR
+    MAX_VELOCITY =  200
+MAX_ACCELERATION =  800
+       MIN_LIMIT = -300
+       MAX_LIMIT =  800
+            HOME =   50
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0
+
+[JOINT_3]
+            TYPE = ANGULAR
+    MAX_VELOCITY =   90
+MAX_ACCELERATION =  400
+       MIN_LIMIT =  -30
+       MAX_LIMIT =  210
+            HOME =   90
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0
+
+[JOINT_4]
+            TYPE = ANGULAR
+    MAX_VELOCITY =  180
+MAX_ACCELERATION =  720
+       MIN_LIMIT = -1e9
+       MAX_LIMIT =  1e9
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0
+
+[JOINT_5]
+            TYPE = ANGULAR
+    MAX_VELOCITY =  180
+MAX_ACCELERATION =  720
+       MIN_LIMIT = -1e9
+       MAX_LIMIT =  1e9
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0

configs/sim/axis/vismach/twinspindle/twinspindle.tbl

@@ -0,0 +1 @@
+T1 P1 Z50 D10 ;drill