374 lines
12 KiB
Markdown
374 lines
12 KiB
Markdown
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# ecmc_plugin_grbl: Nc g-code support for ecmc
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ecmc plugin for cnc g-code execution by grbl.
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The plugin supports 3 axes (x,y,z) and spindle.
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More info can found in the grbl [readme](README_grbl.md) however not all features are supported.
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# Supported features
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Most, but not all, of the grbl features should be supported but far from all have been tested.
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## Grbl features
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grbl v1.1 supports the following features:
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```
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List of Supported G-Codes in Grbl v1.1:
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- Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
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- Motion Modes: G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
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- Feed Rate Modes: G93, G94
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- Unit Modes: G20, G21
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- Distance Modes: G90, G91
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- Arc IJK Distance Modes: G91.1
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- Plane Select Modes: G17, G18, G19
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- Tool Length Offset Modes: G43.1, G49
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- Cutter Compensation Modes: G40
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- Coordinate System Modes: G54, G55, G56, G57, G58, G59
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- Control Modes: G61
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- Program Flow: M0, M1, M2, M30*
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- Coolant Control: M7*, M8, M9
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- Spindle Control: M3, M4, M5
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- Valid Non-Command Words: F, I, J, K, L, N, P, R, S, T, X, Y, Z
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```
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## Tested features
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* G0, G1, G2, G3, G4
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* G4
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* M3, M4, M5
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* S
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## Not supported features
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Some of the grbl features are not suppored (yet).
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### Grbl limit switch evaluation
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Limit switches are handled by ecmc. If an limit switch is engaged all control will be taken over by ecmc and the grbl plugin will go into error state.
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### Grbl homing sequences
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Homing sequences needs to be handled in ecmc prior to execution of any g-code. This since ecmc handles the limit switches.
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### Grbl coolant control
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Not supported yet
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### Grbl probing
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Not supported yet
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### Grbl Softlimits
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Grbl softlimits are not supported. This should be handled in ecmc.
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# Plugin configuration
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## Load of plugin
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The plugin must be loaded into ecmc with the *loadPlugin.cmd* command.
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Exmaple of loading of plugin
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```
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epicsEnvSet("PLUGIN_VER" ,"develop")
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require ecmc_plugin_grbl $(PLUGIN_VER)
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epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/pi/epics/base-7.0.5/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_grbl/$(PLUGIN_VER)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_grbl.so")
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epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=0;AUTO_START=0;")
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${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=0,FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=1"
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```
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The configuration string contains the following configuration commands:
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* DBG_PRINT *1/0: enable/disable debug printouts*
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* X_AXIS *ecmc axis id that will be used as x-axis*
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* Y_AXIS *ecmc axis id that will be used as y-axis*
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* Z_AXIS *ecmc axis id that will be used as z-axis*
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* SPINDLE_AXIS *ecmc axis id that will be used as spindle-axis*
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* AUTO_ENABLE *1/0: auto enable all configured axis before nc code is triggered*
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* AUTO_START *1/0: auto start g-code nc program at ioc start*
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## ecmc plc functions
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### grbl_set_execute(arg0)
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```
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double grbl_set_execute(<exe>) : Trigg execution of loaded g-code at positive edge of <exe>
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```
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### grbl_mc_halt(arg0)
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```
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double grbl_mc_halt(<halt>) : Halt grbl motion at positive edge of <halt>
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```
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### grbl_mc_resume(arg0)
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```
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double grbl_mc_resume(<resume>) : Resume halted grbl motion at positive edge of <resume>
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```
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### grbl_get_busy()
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```
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double grbl_get_busy() : Get grbl system busy (still executing motion code)
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```
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### grbl_get_parser_busy()
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```
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double grbl_get_parser_busy() : Get g-code parser busy.
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```
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### grbl_get_code_row_num()
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```
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double grbl_get_code_row_num() : Get g-code row number currently preparing for exe.
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```
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### grbl_get_error()
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```
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double grbl_get_error() : Get error code.
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```
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### grbl_reset_error()
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```
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double grbl_reset_error() : Reset error.
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```
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### grbl_get_all_enabled()
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```
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double grbl_get_all_enabled() : Get all configured axes enabled.
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```
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### grbl_set_all_enable(arg0)
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```
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double grbl_set_all_enable(enable) : Set enable on all configured axes.
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```
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# Grbl Configuration
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A subset of the [grbl configuration comamnds](doc/markdown/settings.md) is supported:
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```
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* $11 - Junction deviation, mm
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* $12 – Arc tolerance, mm
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* $30 - Max spindle speed, RPM
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* $31 - Min spindle speed, RPM
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* $100, $101 and $102 – [X,Y,Z] steps/mm
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* $110, $111 and $112 – [X,Y,Z] Max rate, mm/min
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* $120, $121, $122 – [X,Y,Z] Acceleration, mm/sec^2
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Example: Set Max spindle speed to 1000rpm
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$30=1000
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```
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## Loading of grbl configuration
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Loading of grbl configuration can be done by issuing the following iocsh cmds:
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* ecmcGrblLoadConfigFile(*filename*)
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* ecmcGrblAddConfig(*command*)
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These commands can only be used before iocInit().
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At iocInit() these configurationd will be written to grbl.
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### ecmcGrblLoadConfigFile(filename)
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The ecmcGrblLoadConfigFile(*filename*) command loads a file containing grbl configs:
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```
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ecmcGrblLoadConfigFile -h
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Use ecmcGrblLoadConfigFile(<filename>,<append>)
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<filename> : Filename containg grbl configs.
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<append> : 0: clear all current configs in buffer before
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loading file (default).
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: 1: append commands in file last in buffer. (grbl is not reset)
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```
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Example:
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```
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ecmcGrblLoadConfigFile("./cfg/grbl.cfg")
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```
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### ecmcGrblAddConfig(command);
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The ecmcGrblAddConfig(*command*) adds one configuration command to the configuration buffer:
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```
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ecmcGrblAddConfig -h
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Use ecmcGrblAddConfig(<command>)
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<command> : Grbl command.
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Supported grbl comamnds:
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$11 - Junction deviation, mm
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$12 – Arc tolerance, mm
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$30 - Max spindle speed, RPM
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$31 - Min spindle speed, RPM
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$100, $101 and $102 – [X,Y,Z] steps/mm
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$110, $111 and $112 – [X,Y,Z] Max rate, mm/min
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$120, $121, $122 – [X,Y,Z] Acceleration, mm/sec^2
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Example: Set resolution to 1 micrometer
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ecmcGrblAddConfig("$100=1000")
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```
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Example: Set X acceleration to 100mm/sec²
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```
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ecmcGrblAddConfig("$120=100")
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```
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# Grbl programming
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Loading of grbl g-code nc programs can be done by issuing the following iocsh cmds:
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* ecmcGrblLoadGCodeFile(*filename*,*append*)
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* ecmcGrblAddCommand(*command*)
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## ecmcGrblLoadGCodeFile(filename, append)
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The ecmcGrblLoadGCodeFile(*filename*, *append*) command loads a file containing nc code.
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If *append* parameter is set then the code in the file will be appended to any previous added nc code in the program buffer,
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otherwise the nc code program buffer will be cleared before adding the contents of the file.
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```
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ecmcGrblLoadGCodeFile -h
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Use ecmcGrblLoadGCodeFile(<filename>,<append>)
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<filename> : Filename containg g-code.
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<append> : 0: reset grbl, clear all current commands in buffer before
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loading file (default).
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: 1: append commands in file last in buffer. (grbl is not reset)
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```
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Example: Load file without append
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```
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ecmcGrblLoadGCodeFile("./plc/gcode.nc",0)
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```
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## ecmcGrblAddCommand(command);
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The ecmcGrblAddCommand(*command*) adds one nc command to the program buffer:
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```
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ecmcGrblAddCommand -h
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Use ecmcGrblAddCommand(<command>)
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<command> : Grbl command.
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```
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Example: Add nc g-code command
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```
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ecmcGrblAddCommand("G1X20Y20F360")
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```
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# Test script
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A [test script](test_xyspindle.script) can be found in the iocsh directory.
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The test script includes the following:
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* Configuration of three axes as [X](iocsh/cfg/x.ax),[Y](iocsh/cfg/y.ax) and [spindle](iocsh/cfg/spindle.ax)
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* Needed sync expression files for [X](iocsh/cfg/x.sax) and [Y](iocsh/cfg/y.sax) (spindle does not need sync file)
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* [Grbl configuration file](iocsh/cfg/grbl.cfg)
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* [Plc file](iocsh/plc/grbl.plc)
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* [Nc g-code file](iocsh/plc/g-code.nc)
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The plc-file is used to enable the configured axes and to retrigger the nc g-code after it has been finalized.
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# Pictures
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Some pictures of x and y actual and setpoints for G0,G1,G2,G4 commands:
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* X = Axis1
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* Y = Axis2
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NOTE: The tests are performed on simple belt drive linear axes.
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## X and Y positions
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## Detail 1
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## Detail 2
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# Plugin info
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```
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Plugin info:
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Index = 0
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Name = ecmcPluginGrbl
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Description = grbl plugin for use with ecmc.
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Option description =
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DBG_PRINT=<1/0> : Enables/disables printouts from plugin, default = disabled (=0).
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X_AXIS=<axis id>: Ecmc Axis id for use as grbl X axis, default = disabled (=-1).
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Y_AXIS=<axis id>: Ecmc Axis id for use as grbl Y axis, default = disabled (=-1).
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Z_AXIS=<axis id>: Ecmc Axis id for use as grbl Z axis, default = disabled (=-1).
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SPINDLE_AXIS=<axis id>: Ecmc Axis id for use as grbl spindle axis, default = disabled (=-1).
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AUTO_ENABLE=<1/0>: Auto enable the linked ecmc axes autmatically before start, default = disabled (=0).
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AUTO_START=<1/0>: Auto start g-code at ecmc start, default = disabled (=0).
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Filename = /home/pi/epics/base-7.0.5/require/3.4.0/siteMods/ecmc_plugin_grbl/develop/lib/linux-arm/libecmc_plugin_grbl.so
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Config string = DBG_PRINT=1;X_AXIS=1;Y_AXIS=2;SPINDLE_AXIS=3;AUTO_ENABLE=0;AUTO_START=0;
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Version = 2
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Interface version = 65536 (ecmc = 65536)
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max plc funcs = 64
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max plc func args = 10
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max plc consts = 64
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Construct func = @0xb4f1fb50
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Enter realtime func = @0xb4f1fa64
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Exit realtime func = @0xb4f1fa30
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Realtime func = @0xb4f1fa60
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Destruct func = @0xb4f1fa38
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dlhandle = @0xbb6f48
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Plc functions:
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funcs[00]:
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Name = "grbl_set_execute(arg0);"
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Desc = double grbl_set_execute(<exe>) : Trigg execution of loaded g-code at positive edge of <exe>
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Arg count = 1
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func = @0xb4f1fa68
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funcs[01]:
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Name = "grbl_mc_halt(arg0);"
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Desc = double grbl_mc_halt(<halt>) : Halt grbl motion at positive edge of <halt>
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Arg count = 1
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func = @0xb4f1fa84
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funcs[02]:
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Name = "grbl_mc_resume(arg0);"
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Desc = double grbl_mc_resume(<resume>) : Resume halted grbl motion at positive edge of <resume>
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Arg count = 1
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func = @0xb4f1faa0
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funcs[03]:
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Name = "grbl_get_busy();"
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Desc = double grbl_get_busy() : Get grbl system busy (still executing motion code)
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Arg count = 0
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func = @0xb4f1fabc
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funcs[04]:
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Name = "grbl_get_parser_busy();"
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Desc = double grbl_get_parser_busy() : Get g-code parser busy.
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Arg count = 0
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func = @0xb4f1fad0
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funcs[05]:
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Name = "grbl_get_code_row_num();"
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Desc = double grbl_get_code_row_num() : Get g-code row number currently preparing for exe.
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Arg count = 0
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func = @0xb4f1fae4
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funcs[06]:
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Name = "grbl_get_error();"
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Desc = double grbl_get_error() : Get error code.
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Arg count = 0
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func = @0xb4f1fb0c
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funcs[07]:
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Name = "grbl_reset_error();"
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Desc = double grbl_reset_error() : Reset error.
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Arg count = 0
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func = @0xb4f1faf8
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funcs[08]:
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Name = "grbl_get_all_enabled();"
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Desc = double grbl_get_all_enabled() : Get all configured axes enabled.
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Arg count = 0
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func = @0xb4f1fb20
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funcs[09]:
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Name = "grbl_set_all_enable(arg0);"
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Desc = double grbl_set_all_enable(enable) : Set enable on all configured axes.
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Arg count = 1
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func = @0xb4f1fb34
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Plc constants:
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```
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## Todo
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* Add config that executed automatic homing
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* Verify that axes are homed before and g-code is executed
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* Test mc_halt() and mc_resume()
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* Add possablity to stream g-code over epics
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* Test g-codes
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* Improve error handling
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* Add homing to plc file...
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* Cleanup
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* use asynPrint
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*
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