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Merge pull request #1784 from smoe/docs_stupid_simple_stuff
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‎docs/html/gcode.html‎

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tr.odd td { background: #d9d9d9; }
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tr.head td, tr.head th { background: black; color: white; }
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--></STYLE>
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<TITLE>LinuxCNC "G-Code" Quick Reference</TITLE>
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<TITLE>LinuxCNC "G-code" Quick Reference</TITLE>
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</HEAD>
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<BODY>
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<TABLE ID=ref1>
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<CAPTION> LinuxCNC "G-Code" Quick Reference </CAPTION>
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<CAPTION> LinuxCNC "G-code" Quick Reference </CAPTION>
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<COL id="group"> <COL id="code"> <COL id="params"> <COL id="description">
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<TR id="titlerow"> <TH>Code <TH>Parameters <TH>Description </TR>
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<TR><TH>Motion<TD COLSPAN=2 STYLE="border-bottom: 1px solid black">(X Y Z A B C U V W apply to all motions)</TR>

‎docs/src/config/iov2.adoc‎

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I/O control handles I/O tasks like coolant, toolchange, e-stop and lube. The
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signals are turned on and off in userspace with G-code or in the case of e-stop
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in hal.
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in HAL.
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I/O Control V2 adds more toolchanger support for communication with the
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toolchanger.
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* Consistent view of state: Both parties must have a consistent view of the
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state at any point in time with respect to aborted versus completed, and tool
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number and pocket
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number and pocket.
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* Handshaked signaling an abort/fault: an abort signaled by LinuxCNC to the
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toolchanger, and a fault indicated from the toolchanger is handshaked to

‎docs/src/config/lathe-config.adoc‎

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@@ -30,7 +30,7 @@ in the preamble of the G-code file.
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The following .ini settings are needed for lathe mode in Axis in addition to
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or replacing normal settings in the .ini file. These historical settings use
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identity kinematics (trivkins) and 'three' joints (0,1,2) corresponding to
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coordinates x,y,z. The joint 1 for the unused y axis is required but not used
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coordinates x, y, z. The joint 1 for the unused y axis is required but not used
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in these historical configurations. Simulated lathe configs may use these
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historical settings.
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Gmoccapy also uses the mentioned settings, but does offer additional settings,

‎docs/src/config/moveoff.adoc‎

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:hal: {basebackend@docbook:'':hal}
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:ngc: {basebackend@docbook:'':ngc}
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The moveoff Hal component is a Hal-only method
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The moveoff HAL component is a HAL-only method
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for implementing offsets. See the manpage ('$ man moveoff')
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for the IMPORTANT limitations and warnings.
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The moveoff component is used to offset joint positions using custom Hal
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The moveoff component is used to offset joint positions using custom HAL
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connections. Implementing an offset-while-program-is-paused functionality is
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supported with appropriate connections for the input pins. Nine joints are
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supported.
@@ -64,20 +64,20 @@ limits) and an 'Error' message is issued.
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[CAUTION]
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If offsets are enabled and applied and the machine is turned off for any
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reason, any 'external' Hal logic that manages the enabling pins and the
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reason, any 'external' HAL logic that manages the enabling pins and the
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offset-in-M inputs is responsible for their state when the machine is
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subsequently turned on again.
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This Hal-only means of offsetting is typically not known to LinuxCNC
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This HAL-only means of offsetting is typically not known to LinuxCNC
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nor available in GUI preview displays. *No protection is provided* for
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offset moves that exceed soft limits managed by LinuxCNC. Since soft limits
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are not honored, an offset move may encounter hard limits (or *CRASH* if
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there are no limit switches). Use of the offset-min-M and offset-max-M inputs
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to limit travel is recommended. Triggering a hard limit will turn off
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the machine -- see *Caution* above.
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The offset-in-M values may be set with inifile settings, controlled by a GUI,
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or managed by other Hal components and connections. Fixed values may be
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The offset-in-M values may be set with INI file settings, controlled by a GUI,
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or managed by other HAL components and connections. Fixed values may be
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appropriate in simple cases where the direction and amount of offset is
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well-defined but a control method is required to deactivate an enabling
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pin in order to return offsets to zero. GUIs may provide means for users to
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The default values for accel, vel, min, max, epsilon, waypoint-sample-secs, and
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waypoint-threshold may not be suitable for any particular application. This
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Hal component is unaware of limits enforced elsewhere by LinuxCNC.
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HAL component is unaware of limits enforced elsewhere by LinuxCNC.
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Users should test usage in a simulator application and understand all
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hazards before use on hardware.
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Sim configurations that demonstrate the component and a
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gui (moveoff_gui) are located in:
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GUI (moveoff_gui) are located in:
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* configs/sim/axis/moveoff (axis-ui)
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* configs/sim/touchy/ngcgui (touchy-ui)
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== Modifying an existing configuration
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A system-provided halfile (LIB:hookup_moveoff.tcl) can be used to adapt an
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existing configuration to use the moveoff component. Additional ini file
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settings support the use of a simple gui (moveoff_gui) for controlling offsets.
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A system-provided HAL file (LIB:hookup_moveoff.tcl) can be used to adapt an
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existing configuration to use the moveoff component. Additional INI file
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settings support the use of a simple GUI (moveoff_gui) for controlling offsets.
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When the system halfile (LIB:hookup_moveoff.tcl) is properly specified in
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a configuration ini file, it will:
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When the system HAL file (LIB:hookup_moveoff.tcl) is properly specified in
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a configuration INI file, it will:
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. Disconnect the original joint.N.motor-pos-cmd and joint.N.motor-pos-fb pin
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connections
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. Load (loadrt) the moveoff component (using the name mv) with a personality
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set to accommodate all axes identified in the ini file
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set to accommodate all axes identified in the INI file
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. Add (addf) the moveoff component functions in the required sequence
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. Reconnect the joint.N.motor-pos-cmd and joint.N.motor-pos-fb pins to use
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the moveoff component
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. Set the moveoff component operating parameters and limits for each axis
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in accordance with additional ini file settings
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in accordance with additional INI file settings
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Note: The moveoff_gui application supports configurations that use known
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kinematics modules with KINEMATICS_TYPE=KINEMATICS_IDENTITY. Supported
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Modify an existing configuration as follows:
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Make sure there is an ini file entry for [HAL]HALUI and create a new
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Make sure there is an INI file entry for [HAL]HALUI and create a new
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[HAL]HALFILE entry for LIB:hookup_moveoff.tcl.
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The entry for LIB:hookup_moveoff.tcl should follow all HALFILE= entries
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for halfiles that connect the pins for joint.N.motor-pos-cmd,
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for HAL files that connect the pins for joint.N.motor-pos-cmd,
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joint.N.motor-pos-fb, and any components connected to these pins (pid
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and encoder components in a servo system for instance).
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HALFILE = LIB:hookup_moveoff.tcl
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----
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Add ini file entries for the per-axis settings for each axis in use (if an
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Add INI file entries for the per-axis settings for each axis in use (if an
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entry is not defined, the corresponding entry from the [AXIS_n] section will be
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used, if no entry is found, then the moveoff component default will be used).
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MAX_ACCELERATION =
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----
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Add ini file entries for moveoff component settings (omit to use moveoff defaults):
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Add INI file entries for moveoff component settings (omit to use moveoff defaults):
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[source,{ini}]
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----
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----
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The moveoff_gui is used to make additional required connections and provide
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a popup gui to:
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a popup GUI to:
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. Provide a control togglebutton to Enable/Disable offsets
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. Provide a control togglebutton to Enable/Disable backtracking
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depending upon the command line option -mode [ onpause | always ]. A new signal
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is automatically created if necessary.
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To use the moveoff_gui, add an entry in the ini file [APPLICATIONS]
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To use the moveoff_gui, add an entry in the INI file [APPLICATIONS]
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section as follows:
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[source,{ini}]
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----
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[APPLICATIONS]
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# Note: a delay (specified in seconds) may be required if connections
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# are made using postgui halfiles ([HAL]POSTGUI_HALFILE=)
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# are made using postgui HAL files ([HAL]POSTGUI_HALFILE=)
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DELAY = 0
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APP = moveoff_gui option1 option2 ...
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----
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When the halfile LIB:hookup_moveoff.tcl is used to load and connect the
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When the HAL file LIB:hookup_moveoff.tcl is used to load and connect the
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moveoff component, the mv.move-enable pin will not be connected and
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local controls provided by the moveoff_gui will be used. This is the
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local controls provided by the moveoff_gui will be used. This is the
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simplest method to test or demonstrate the moveoff component when
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modifying an existing ini configuration.
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modifying an existing INI configuration.
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To enable external controls while using the moveoff_gui display
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for offset values and status, halfiles that follow LIB:hookup_moveoff.tcl
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for offset values and status, HAL files that follow LIB:hookup_moveoff.tcl
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must make additional connections. For example, the supplied demonstration
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configs (configs/sim/axis/moveoff/*.ini) use a simple system halfile
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(named LIB:moveoff_external.hal) to connect the mv.move-enable,mv.offset-in-M,
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configs (configs/sim/axis/moveoff/*.ini) use a simple system HAL file
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(named LIB:moveoff_external.hal) to connect the mv.move-enable, mv.offset-in-M,
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and mv.bactrack-enable pins to signals:
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[source,{ini}]
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----
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These signals (external_enable, external_offset_M, external_backtrack_en) may
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be managed by subsequent HALFILES (including POSTGUI_HALFILEs) to provide
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be managed by subsequent HALFILES (including POSTGUI_HALFILEs) to provide
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customized control of the component while using the moveoff_gui display
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for current offset values and offset status.
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