External Offsets: Axis coordinate offset hal pins

rebased to master at:
0cab365 Thu Oct 18 22:56:02 2018 +0100

Note: eoffset_pid additions moved to a separate branch dgarr/eoffset_pid

Docs: docs/src/motion/external-offsets.txt

Hal pins (input interface is similar to wheel jogging pins):
  axis.L.eoffset-enable   Input  (bit):   enable
  axis.L.eoffset-scale    Input  (float): scale factor
  axis.L.eoffset-counts   Input  (s32):   request is accumulated counts*scale
  axis.L.eoffset-clear    Input  (bit):   clear request
  axis.L.eoffset          Output (float): current external offset
  axis.L.eoffset-request  Output (float): requested external offset (debug pin)

  motion.eoffset-active   Output (bit):   non-zero external offsets applied
  motion.eoffset-limited  Output (bit):   limited by soft limit

Hal components:
    eoffset_per_angle.comp

Sim configs (configs/sim/axis/external_offsets/)
    eoffset_demo.ini     (XYZ ext offsets)
    jwp_z.ini            (jog-while-pause Z)
    dynamic_offsets.ini  (dynamic Z)
    opa.ini              (X ext offset per C angle)

Notes:
1) see docs/src/motion/external_offsets.txt for usage restrictions
   man updated: motion.9
   new manpage: offset_per_angle.9 (auto by halcompile)
2) In canon.hh, option:
     #undef  STOP_ON_SYNCH_IF_EXTERNAL_OFFSETS
     #define STOP_ON_SYNCH_IF_EXTERNAL_OFFSETS
   forces a stop on any synch() if non-zero external
   offsets.

3) In command.c, using ALT_EOFFSET_BEHAVIOR for cont/incr jogs

Squash notes:

a) eliminate synch() restrictions
   Prior synch() restrictions are eliminated by changing the
   way that external offsets are removed from the current position
   information used by the interpreter.

   Stopping on synch() with external offset applied may
   be enabled at compile-time using an option defined
   in nml_intf/canon.cc:
      #define STOP_ON_SYNCH_IF_EXTERNAL_OFFSETS
   This option will be removed in the future.
b) eoffset_per_angle.comp: support multiple instances

Author: dngarrett

configs/sim/axis/external_offsets/M111

@@ -0,0 +1,5 @@
+#!/bin/bash
+halcmd setp axisui.notifications-clear-info 1
+sleep .1
+halcmd setp axisui.notifications-clear-info 0
+exit 0

configs/sim/axis/external_offsets/README

@@ -0,0 +1,4 @@
+eoffset_demo.ini ----- Basic demo (XYZ)
+jwp_z.ini ------------ Jog while paused (Z) demo
+dynamic_offsets.ini -- Z offset waveforms demo
+opa.ini -------------- Offset per Angle (XZC) demo

configs/sim/axis/external_offsets/circles.ngc

@@ -0,0 +1,43 @@
+(info: Multiple circles at radius R, use 0 for current val)
+;Notes:
+;  1) z axis not altered (remains at current z)
+;  2) for  inside polygon cutting (fnum==0):
+;     start with rfraction negative
+;     and gradually increase rfraction to zero as program runs
+;     multiple circles
+;  3) for outside polygon cutting (fnum==1):
+;     start with rfraction positive
+;     and gradually decrease to zero as program runs multiple
+;     circles
+;
+; Alternate method for polygons:
+;  1) use #<radius>=0 and jog to safe starting position
+;  2) use #<revs>=1, run progam for one revolution
+;  3) Run program repeatedly and manually jog x (radius)
+;     before each program start to increase/decrease
+;     current radius for inside/outside polygon respectively
+
+o<circles> sub
+     #<radius> = #1 (=  1 R  0==>current)
+     #<aspeed> = #2 (=  8 aspeed: RPM)
+     #<lspeed> = #3 (= 10 lspeed: units/sec)
+       #<revs> = #4 (=  1 +/- Revolutions)
+
+      #<c> = #<_c> ;starting value
+#<ctarget> = [#<c> + #<revs> * 360]
+  #<arate> = [#<aspeed> * 360]
+
+m111 ;clear prior info messages
+o<if1> if [#<radius> EQ 0]
+       #<ref_radius> = #<_x> ;use current x
+o<if1> else
+       #<ref_radius> = #<radius>
+       f#<lspeed> g1 x#<ref_radius>
+o<if1> endif
+(debug, ref_radius=#<ref_radius>)
+
+m68 e0 q#<ref_radius> ; set ref_radius for eoffsets
+
+f#<arate> g1 c#<ctarget> ; circles at arate
+
+o<circles> endsub

configs/sim/axis/external_offsets/dyn_demo.ngc

@@ -0,0 +1,33 @@
+#<xmax>  =   9
+#<ymax>  =   4
+#<zmax>  =   3
+#<rct>   = 100
+#<feed>  = 100
+
+#<x1>    = #<xmax>
+#<y1>    = 0
+#<z1>    = [#<zmax> * 0.5]
+
+#<x2>    = #<xmax>
+#<y2>    = #<ymax>
+#<z2>    = 0
+
+#<x3>    = 0
+#<y3>    = #<ymax>
+#<z3>    = #<zmax>
+
+m111 ;clear notifications
+g61
+g0 x0 y0 z0
+
+o<rpt> repeat [#<rct>]
+f #<feed>
+g0 x 0          y 0        z 0
+g1 x #<x1>      y #<y1>    z #<z1>
+g1 x #<x2>      y #<y2>    z #<z2>
+g1 x #<x3>      y #<y3>    z #<z3>
+g1 x 0          y 0        z 0
+o<rpt> endrepeat
+
+m111 ;clear notifications
+m2

configs/sim/axis/external_offsets/dynamic_offsets.halscope

@@ -0,0 +1,27 @@
+THREAD servo-thread
+MAXCHAN 8
+HMULT 4
+HZOOM 1
+HPOS 5.186916e-01
+CHAN 1
+SIG E:z-offset
+VSCALE -1
+VPOS 0.398564
+VOFF 0.000000e+00
+CHAN 2
+SIG G:waveform
+VSCALE -1
+VPOS 0.398564
+VOFF 0.000000e+00
+CHAN 4
+SIG G:reset
+VSCALE 2
+VPOS 0.961120
+VOFF 0.000000e+00
+CHAN 3
+PIN joint.2.motor-pos-cmd
+VSCALE 0
+VPOS 0.900000
+VOFF 0.000000e+00
+TMODE 0
+RMODE 0

configs/sim/axis/external_offsets/dynamic_offsets.ini

@@ -0,0 +1,87 @@
+[APPLICATIONS]
+# delay because some items are done in postgui
+DELAY = 5
+APP = halscope -i dynamic_offsets.halscope
+
+[HAL]
+HALUI   = halui
+HALFILE = LIB:basic_sim.tcl
+POSTGUI_HALFILE = dynamic_offsets_panel.hal
+
+[EMC]
+MACHINE = Dynamic External Offsets
+VERSION = 1.1
+
+[DISPLAY]
+PYVCP = dynamic_offsets_panel.xml
+DISPLAY = axis
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_LINEAR_VELOCITY = 2
+OPEN_FILE = ./dyn_demo.ngc
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+USER_M_PATH = .
+PARAMETER_FILE = sim.var
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+COORDINATES = XYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+
+[KINS]
+JOINTS = 3
+KINEMATICS = trivkins coordinates=XYZ
+
+[AXIS_X]
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -1
+MAX_LIMIT        =  10
+
+[AXIS_Y]
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  20
+MIN_LIMIT        =  -1
+MAX_LIMIT        =  10
+
+[AXIS_Z]
+# Note:give half to external_offsets:
+OFFSET_AV_RATIO  =   0.5
+
+# Note: modified in pyvcp panel:
+MAX_VELOCITY     =   2
+MAX_ACCELERATION =  50
+
+MIN_LIMIT        =  -5
+MAX_LIMIT        =   5
+
+[JOINT_0]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 20
+
+[JOINT_1]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 20
+
+[JOINT_2]
+TYPE             = LINEAR
+HOME_SEQUENCE    =  0
+MAX_VELOCITY     =  2
+MAX_ACCELERATION = 50

configs/sim/axis/external_offsets/dynamic_offsets.txt

@@ -0,0 +1,32 @@
+dynamic_offsets
+
+A sinewave is applied to the Z coordinate external offset
+
+The waveform amplitdude and frequency are set by pyvcp panel spinboxes.
+
+The Z coordinate max acceleration and max velocity settings (from the ini file) can be modified with pyvcp panel spinboxes.
+
+Usage:
+  1) Estop OFF  (F1)
+  2) Machine ON (F2)
+  3) HOME All   (Ctrl-Home)
+  4) A halscope application is started to
+     show the offset waveforms and the
+     z coordinate response 
+  5) Enable the dynamic offset waveform
+     with the panel 'Z enable' checkbox
+  5) Use the panel to adjust:
+       Waveform:     amplitude, frequency
+       Z Coordinate: max accel, max vel
+
+Notes:
+  The dynamic waveform is applied with and without
+  running a program.
+
+  MDI cannot be started with non-zero external
+  offsets -- disable the Z offsets and toggle
+  the machine On/Off to zero offsets.
+
+  Changes to the Z max accel, max vel are not
+  made while a program or mdi move is in progress.
+  

configs/sim/axis/external_offsets/dynamic_offsets_panel.hal

@@ -0,0 +1,46 @@
+loadrt siggen         names=gen
+loadrt scale          names=scalea
+loadrt conv_float_s32 names=cvt
+loadrt not            names=nota
+loadrt or2            names=or2a
+
+addf   gen.update     servo-thread
+addf   scalea         servo-thread
+addf   cvt            servo-thread
+addf   nota           servo-thread
+addf   or2a           servo-thread
+
+setp gen.offset       0.0
+
+# scaling -----------------------------------------------------------
+# these should be reciprocals:
+# 1 unit (inch)  --> 10000 counts
+setp axis.z.eoffset-scale     0.0001
+setp scalea.gain          10000
+
+net  E:amplitude  <= pyvcp.gen-amplitude     => gen.amplitude
+net  E:frequency  <= pyvcp.gen-frequency     => gen.frequency
+
+# can also use sawtooth (others inappropriate on a reset)
+net  G:waveform         <= gen.sine                => scalea.in
+net  G:swaveform        <= scalea.out              => cvt.in
+net  G:counts           <= cvt.out                 => axis.z.eoffset-counts
+
+net  E:enable     <= pyvcp.z-enable          => axis.z.eoffset-enable
+net  E:enable                                => nota.in
+
+net  E:disable    <= nota.out                => or2a.in1
+
+net  E:z-offset   <= axis.z.eoffset          => pyvcp.z-offset-f
+
+net  E:limited    <= motion.eoffset-limited  => pyvcp.eoffset-limited
+
+net  E:active    <= motion.eoffset-active  => pyvcp.eoffset-active
+
+net  E:reset      <= pyvcp.reset             => or2a.in0
+
+net  E:ini-accel <= pyvcp.ini-accel          => ini.z.max_acceleration
+net  E:ini-vel   <= pyvcp.ini-vel            => ini.z.max_velocity
+
+net  G:reset           <= or2a.out                 => axis.z.eoffset-clear
+net  G:reset                                       => gen.reset