emc.hh

CNC 的开放码,EMC2 V2.2.8版

    EMC_TASK_EXEC_ERROR = 1,
    EMC_TASK_EXEC_DONE = 2,
    EMC_TASK_EXEC_WAITING_FOR_MOTION = 3,
    EMC_TASK_EXEC_WAITING_FOR_MOTION_QUEUE = 4,
    EMC_TASK_EXEC_WAITING_FOR_IO = 5,
    EMC_TASK_EXEC_WAITING_FOR_PAUSE = 6,
    EMC_TASK_EXEC_WAITING_FOR_MOTION_AND_IO = 7,
    EMC_TASK_EXEC_WAITING_FOR_DELAY = 8,
    EMC_TASK_EXEC_WAITING_FOR_SYSTEM_CMD = 9
};

// types for EMC_TASK interpState
enum EMC_TASK_INTERP_ENUM {
    EMC_TASK_INTERP_IDLE = 1,
    EMC_TASK_INTERP_READING = 2,
    EMC_TASK_INTERP_PAUSED = 3,
    EMC_TASK_INTERP_WAITING = 4
};

// types for motion control
enum EMC_TRAJ_MODE_ENUM {
    EMC_TRAJ_MODE_FREE = 1,	// independent-axis motion,
    EMC_TRAJ_MODE_COORD = 2,	// coordinated-axis motion,
    EMC_TRAJ_MODE_TELEOP = 3	// velocity based world coordinates motion,
};

#define EMC_MOTION_TYPE_TRAVERSE 1
#define EMC_MOTION_TYPE_FEED 2
#define EMC_MOTION_TYPE_ARC 3
#define EMC_MOTION_TYPE_TOOLCHANGE 4
#define EMC_MOTION_TYPE_PROBING 5

// --------------
// EMC VOCABULARY
// --------------

// NML formatting function
extern int emcFormat(NMLTYPE type, void *buffer, CMS * cms);

// NML Symbol Lookup Function
extern const char *emc_symbol_lookup(long type);
#define emcSymbolLookup(a) emc_symbol_lookup(a)

// decls for command line args-- mains are responsible for setting these
// so that other modules can get cmd line args for ad hoc processing
extern int Argc;
extern char **Argv;

// ------------------------
// IMPLEMENTATION FUNCTIONS
// ------------------------

// implementation functions for EMC error, message types
// intended to be implemented in main() file, by writing to NML buffer

// print an error
extern int emcOperatorError(int id, const char *fmt, ...);

// print general text
extern int emcOperatorText(int id, const char *fmt, ...);

// print note to operator
extern int emcOperatorDisplay(int id, const char *fmt, ...);

// implementation functions for EMC_AXIS types

extern int emcAxisSetAxis(int axis, unsigned char axisType);
extern int emcAxisSetUnits(int axis, double units);
extern int emcAxisSetBacklash(int axis, double backlash);
extern int emcAxisSetInterpolationRate(int axis, int rate);
extern int emcAxisSetMinPositionLimit(int axis, double limit);
extern int emcAxisSetMaxPositionLimit(int axis, double limit);
extern int emcAxisSetMotorOffset(int axis, double offset);
extern int emcAxisSetMinOutputLimit(int axis, double limit);
extern int emcAxisSetMaxOutputLimit(int axis, double limit);
extern int emcAxisSetFerror(int axis, double ferror);
extern int emcAxisSetMinFerror(int axis, double ferror);
extern int emcAxisSetHomingParams(int axis, double home, double offset,
				  double search_vel, double latch_vel,
				  int use_index, int ignore_limits,
				  int is_shared, int home_sequence);
extern int emcAxisSetMaxVelocity(int axis, double vel);
extern int emcAxisSetMaxAcceleration(int axis, double acc);

extern int emcAxisInit(int axis);
extern int emcAxisHalt(int axis);
extern int emcAxisAbort(int axis);
extern int emcAxisEnable(int axis);
extern int emcAxisDisable(int axis);
extern int emcAxisHome(int axis);
extern int emcAxisJog(int axis, double vel);
extern int emcAxisIncrJog(int axis, double incr, double vel);
extern int emcAxisAbsJog(int axis, double pos, double vel);
extern int emcAxisActivate(int axis);
extern int emcAxisDeactivate(int axis);
extern int emcAxisOverrideLimits(int axis);
extern int emcAxisSetOutput(int axis, double output);
extern int emcAxisLoadComp(int axis, const char *file, int type);


extern int emcAxisUpdate(EMC_AXIS_STAT stat[], int numAxes);

// implementation functions for EMC_TRAJ types

extern int emcTrajSetAxes(int axes, int axismask);
extern int emcTrajSetUnits(double linearUnits, double angularUnits);
extern int emcTrajSetCycleTime(double cycleTime);
extern int emcTrajSetMode(int axes);
extern int emcTrajSetTeleopVector(EmcPose vel);
extern int emcTrajSetVelocity(double vel, double ini_maxvel);
extern int emcTrajSetAcceleration(double acc);
extern int emcTrajSetMaxVelocity(double vel);
extern int emcTrajSetMaxAcceleration(double acc);
extern int emcTrajSetScale(double scale);
extern int emcTrajSetFOEnable(unsigned char mode);   //feed override enable
extern int emcTrajSetFHEnable(unsigned char mode);   //feed hold enable
extern int emcTrajSetSpindleScale(double scale);
extern int emcTrajSetSOEnable(unsigned char mode);   //spindle speed override enable
extern int emcTrajSetAFEnable(unsigned char enable); //adaptive feed enable
extern int emcTrajSetMotionId(int id);
extern double emcTrajGetLinearUnits();
extern double emcTrajGetAngularUnits();

extern int emcTrajInit();
extern int emcTrajHalt();
extern int emcTrajEnable();
extern int emcTrajDisable();
extern int emcTrajAbort();
extern int emcTrajPause();
extern int emcTrajStep();
extern int emcTrajResume();
extern int emcTrajDelay(double delay);
extern int emcTrajLinearMove(EmcPose end, int type, double vel, double
        ini_maxvel, double acc);
extern int emcTrajCircularMove(EmcPose end, PM_CARTESIAN center, PM_CARTESIAN
        normal, int turn, int type, double vel, double ini_maxvel, double acc);
extern int emcTrajSetTermCond(int cond, double tolerance);
extern int emcTrajSetSpindleSync(double feed_per_revolution, bool wait_for_index);
extern int emcTrajSetOffset(EmcPose offset);
extern int emcTrajSetOrigin(EmcPose origin);
extern int emcTrajSetHome(EmcPose home);
extern int emcTrajClearProbeTrippedFlag();
extern int emcTrajProbe(EmcPose pos, int type, double vel, 
	double ini_maxvel, double acc);
extern int emcAuxInputWait(int index, int input_type, int wait_type, int timeout);
extern int emcTrajRigidTap(EmcPose pos, double vel, double ini_maxvel, double acc);

extern int emcTrajUpdate(EMC_TRAJ_STAT * stat);

// implementation functions for EMC_MOTION aggregate types

extern int emcMotionInit();
extern int emcMotionHalt();
extern int emcMotionAbort();
extern int emcMotionSetDebug(int debug);
extern int emcMotionSetAout(unsigned char index, double start, double end,
                            unsigned char now);
extern int emcMotionSetDout(unsigned char index, unsigned char start,
			    unsigned char end, unsigned char now);

extern int emcMotionUpdate(EMC_MOTION_STAT * stat);

// implementation functions for EMC_TASK types

extern int emcTaskInit();
extern int emcTaskHalt();
extern int emcTaskAbort();
extern int emcTaskSetMode(int mode);
extern int emcTaskSetState(int state);
extern int emcTaskPlanInit();
extern int emcTaskPlanSetWait();
extern int emcTaskPlanIsWait();
extern int emcTaskPlanClearWait();
extern int emcTaskPlanSynch();
extern int emcTaskPlanSetOptionalStop(bool state);
extern int emcTaskPlanSetBlockDelete(bool state);
extern int emcTaskPlanExit();
extern int emcTaskPlanOpen(const char *file);
extern int emcTaskPlanRead();
extern int emcTaskPlanRun(int line);
extern int emcTaskPlanExecute(const char *command);
extern int emcTaskPlanPause();
extern int emcTaskPlanResume();
extern int emcTaskPlanClose();

extern int emcTaskPlanLine();
extern int emcTaskPlanCommand(char *cmd);

extern int emcTaskUpdate(EMC_TASK_STAT * stat);

// implementation functions for EMC_TOOL types

extern int emcToolInit();
extern int emcToolHalt();
extern int emcToolAbort();
extern int emcToolPrepare(int tool);
extern int emcToolLoad();
extern int emcToolUnload();
extern int emcToolLoadToolTable(const char *file);
extern int emcToolSetOffset(int tool, double length, double diameter);

extern int emcToolSetToolTableFile(const char *file);

extern int emcToolUpdate(EMC_TOOL_STAT * stat);

// implementation functions for EMC_AUX types

extern int emcAuxInit();
extern int emcAuxHalt();
extern int emcAuxAbort();
extern int emcAuxDioWrite(int index, int value);
extern int emcAuxAioWrite(int index, double value);
extern int emcAuxEstopOn();
extern int emcAuxEstopOff();
extern int emcAuxEstopReset();

extern int emcAuxUpdate(EMC_AUX_STAT * stat);

// implementation functions for EMC_SPINDLE types

extern int emcSpindleInit();
extern int emcSpindleHalt();
extern int emcSpindleAbort();
extern int emcSpindleOn(double speed, double factor, double xoffset);
extern int emcSpindleOff();
extern int emcSpindleForward();
extern int emcSpindleReverse();
extern int emcSpindleStop();
extern int emcSpindleIncrease();
extern int emcSpindleDecrease();
extern int emcSpindleConstant();
extern int emcSpindleBrakeRelease();
extern int emcSpindleBrakeEngage();
extern int emcSpindleEnable();
extern int emcSpindleDisable();

extern int emcSpindleSetForwardIndex(int index);
extern int emcSpindleSetReverseIndex(int index);
extern int emcSpindleSetDecreaseIndex(int index);
extern int emcSpindleSetIncreaseIndex(int index);
extern int emcSpindleSetBrakeIndex(int index);
extern int emcSpindleSetEnableIndex(int index);

extern int emcSpindleSetOnIndex(int index);
extern int emcMinVoltsPerRpm(double volts);
extern int emcMaxVoltsPerRpm(double volts);

/*! \todo - FIXME - not used remove */
extern int emcSpindleSetOffWait(double wait);
extern int emcSpindleSetOnWait(double wait);

extern int emcSpindleUpdate(EMC_SPINDLE_STAT * stat);

// implementation functions for EMC_COOLANT types

extern int emcCoolantInit();
extern int emcCoolantHalt();
extern int emcCoolantAbort();
extern int emcCoolantMistOn();
extern int emcCoolantMistOff();
extern int emcCoolantFloodOn();
extern int emcCoolantFloodOff();

extern int emcCoolantUpdate(EMC_COOLANT_STAT * stat);

// implementation functions for EMC_LUBE types

extern int emcLubeInit();
extern int emcLubeHalt();
extern int emcLubeAbort();
extern int emcLubeOn();
extern int emcLubeOff();

extern int emcLubeUpdate(EMC_LUBE_STAT * stat);

// implementation functions for EMC_IO types

extern int emcIoInit();
extern int emcIoHalt();
extern int emcIoAbort();
extern int emcIoSetCycleTime(double cycleTime);
extern int emcIoSetDebug(int debug);

extern int emcIoUpdate(EMC_IO_STAT * stat);

// implementation functions for EMC aggregate types

extern int emcInit();
extern int emcHalt();
extern int emcAbort();

extern int emcUpdate(EMC_STAT * stat);
// full EMC status
extern EMC_STAT *emcStatus;

// EMC IO status
extern EMC_IO_STAT *emcIoStatus;

// EMC MOTION status
extern EMC_MOTION_STAT *emcMotionStatus;

#define EMC_VERSION_MAJOR 2
#define EMC_VERSION_MINOR 2
#define EMC_VERSION_MICRO 0

// values for EMC_AXIS_SET_AXIS, axisType
enum EmcAxisType {
    EMC_AXIS_LINEAR             = 1,
    EMC_AXIS_ANGULAR            = 2,
};

/**
 * Set the units conversion factor.
 * @see EMC_AXIS_SET_INPUT_SCALE
 */
typedef double                  EmcLinearUnits;
typedef double                  EmcAngularUnits;

#endif				// #ifndef EMC_HH