Work with probe

spangledboy wrote:

I do however have a few suggestions which might be useful for those of us that use touch screens...

Thanks, Ben, for interesting suggestions. I will try add something of this as far as possible .

Very nice.

One slight issue (Linuxcnc 2.7-pre6); if you change the values in the control boxes by typing in numbers instead of clicking on the up/down arrows, the new values don't get saved in the <machinename>.pref file.

They might not even take effect when directly typed in but I'm not sure on that and not in front of a machine at the moment to check.

andypugh wrote:

ruffle wrote:

They might not even take effect when directly typed in but I'm not sure on that and not in front of a machine at the moment to check.

This problem exists in PyVCP........

There may be some clues here:
thread.gmane.org/gmane.linux.distributions.emc.user/32397

I fixed this for pyVCP a couple of years ago re spinboxes, when you hit Enter after entering a value, it updates the value.
(commit 4c092a8dfea9ed85d7d6d2388b9f9e04e51814a5)

However these are glade widgets, so no idea re them.

regards

ArcEye wrote:

I fixed this for pyVCP a couple of years ago re spinboxes, when you hit Enter after entering a value, it updates the value.
(commit 4c092a8dfea9ed85d7d6d2388b9f9e04e51814a5)

However these are glade widgets, so no idea re them.

"hit Enter after entering a value" also works in Probe Screen.

I am trying this out on a virtual machine not connected to a cnc. using the (SIM) --> Axis settings. Here is my error at startup.
Previuosly had to add this to the display header to get it this far.
MAX_FEED_OVERRIDE = 50

Is it possible I do not have my folders in the right locations? Ill append the axis config file below.

Print file information:
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/realtime-2.6.32-122-rtai/modules/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.5
LINUXCNC - 2.5.0
Machine configuration directory is '/home/clinton/linuxcnc/configs/sim/axis'
Machine configuration file is 'axis.ini'
INIFILE=/home/clinton/linuxcnc/configs/sim/axis/axis.ini
PARAMETER_FILE=sim.var
TASK=milltask
HALUI=halui
DISPLAY=axis
Starting LinuxCNC...
Starting LinuxCNC server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting LinuxCNC IO program: io
Starting HAL User Interface program: halui
Starting TASK program: milltask
Starting DISPLAY program: axis
RTAPI: ERROR: Unexpected realtime delay on task 1
This Message will only display once per session.
Run the Latency Test and resolve before continuing.

Unexpected realtime delay: check dmesg for details.
**** GLADE VCP INFO: Not a libglade project, trying to load as a GTK builder project
Embeded tab command "halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u python/probe_screen.py -x 75497790 probe_icons/probe_screen.glade" exited with error: 1
Shutting down and cleaning up LinuxCNC...
Killing task linuxcncsvr, PID=15705
Killing task milltask, PID=15761
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Cleanup done

Debug file information:
Can not find -sec MOT -var MOT -num 1
Can not find -sec IO -var IO -num 1
Can not find -sec LINUXCNC -var NML_FILE -num 1
Can not find -sec EMC -var NML_FILE -num 1

(gladevcp:15771): libglade-WARNING **: Expected <glade-interface>. Got <interface>.

(gladevcp:15771): libglade-WARNING **: did not finish in PARSER_FINISH state
/usr/bin/gladevcp:191: GtkWarning: Unknown property: HAL_LED.pick-color-blink
builder.add_from_file(xmlname)
/usr/bin/gladevcp:191: GtkWarning: Unknown property: HAL_LED.led-shiny
builder.add_from_file(xmlname)
/usr/bin/gladevcp:191: GtkWarning: Unknown property: HAL_LED.blink-color
builder.add_from_file(xmlname)
/usr/bin/gladevcp:191: GtkWarning: GtkSpinButton: setting an adjustment with non-zero page size is deprecated
builder.add_from_file(xmlname)
Traceback (most recent call last):
File "/usr/bin/gladevcp", line 304, in <module>
main()
File "/usr/bin/gladevcp", line 209, in main
handlers = load_handlers(opts.usermod,halcomp,builder,opts.useropts)
File "/usr/bin/gladevcp", line 111, in load_handlers
mod = __import__(basename)
File "python/probe_screen.py", line 33, in <module>
CONFIGPATH1 = os.environ
File "/usr/lib/python2.6/UserDict.py", line 22, in __getitem__
raise KeyError(key)
KeyError: 'CONFIG_DIR'
<commandline>:0: gladevcp exited without becoming ready
15705
PID TTY STAT TIME COMMAND
15761
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Kernel message information:
[ 5961.634388] I-pipe: Domain RTAI registered.
[ 5961.634514] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[ 5961.634521] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[ 5961.634568] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[ 5961.634582] PIPELINE layers:
[ 5961.634628] f8963e20 9ac15d93 RTAI 200
[ 5961.634642] c085cb20 0 Linux 100
[ 5961.682214] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[ 5961.684090] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[ 5961.684140] RTAI[sched]: hard timer type/freq = APIC/4124972(Hz); default timing: periodic; linear timed lists.
[ 5961.684166] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2393999000 hz.
[ 5961.684323] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[ 5961.689887] RTAI[usi]: enabled.
[ 5961.823082] RTAI[math]: loaded.
[ 5962.162209] RTAPI: ERROR: Unexpected realtime delay on task 1
[ 5962.162213] This Message will only display once per session.
[ 5962.162215] Run the Latency Test and resolve before continuing.
[ 5962.165934]
[ 5962.165937] In recent history there were
[ 5962.165938] 5302512, 148438, 2289085, 1363668, and 2364255
[ 5962.165940] elapsed clocks between calls to the motion controller.
[ 5962.165948] This time, there were 2409494 which is so anomalously
[ 5962.165950] large that it probably signifies a problem with your
[ 5962.165952] realtime configuration. For the rest of this run of
[ 5962.165954] EMC, this message will be suppressed.
[ 5962.165955]
[ 5969.615777] RTAI[math]: unloaded.
[ 5969.689224] SCHED releases registered named ALIEN RTGLBH
[ 5969.707544] RTAI[malloc]: unloaded.
[ 5969.805863] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[ 5969.826934] I-pipe: Domain RTAI unregistered.
[ 5969.827583] RTAI[hal]: unmounted.


***************************************
Axis.ini

# EMC controller parameters for a simulated machine.

# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.

# General section

---

[EMC]

# Version of this INI file
VERSION = $Revision$

# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-HAL-SIM-AXIS

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x7FFFFFFF
DEBUG = 0

# Sections for display options

---

[DISPLAY]

DISPLAY = axis
EMBED_TAB_NAME=Probe Screen
EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u python/probe_screen.py -x {XID} probe_icons/probe_screen.glade
MAX_FEED_OVERRIDE = 50

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100

# Path to help file
HELP_FILE = doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0

MAX_LINEAR_VELOCITY = 1.2
DEFAULT_LINEAR_VELOCITY = .25
# Prefix to be used
PROGRAM_PREFIX = /home/clinton/linuxcnc/nc_files

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

EDITOR = gedit
TOOL_EDITOR = tooledit

INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

# Task controller section

---

[TASK]

# Name of task controller program, e.g., milltask
TASK = milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.001

# Part program interpreter section

---

[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = sim.var

# Motion control section
FEATURES=30
SUBROUTINE_PATH = /home/clinton/linuxcnc/configs/sim/probe_sensor_sub

---

[TOOLSENSOR]
# Control probe rappid feed
RAPID_FEED = 600

---

[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010

# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
BASE_PERIOD = 0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000

# Hardware Abstraction Layer section

---

[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE = core_sim.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta

# Single file that is executed after the GUI has started. Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal

HALUI = halui

# Trajectory planner section

---

[TRAJ]

AXES = 3
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.2
POSITION_FILE = position.txt
MAX_LINEAR_VELOCITY = 1.2

# Axes sections

---

# First axis
[AXIS_0]

TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

# Second axis
[AXIS_1]

TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

# Third axis
[AXIS_2]

TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -8.0
MAX_LIMIT = 0.0001
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

# section for main IO controller parameters

---

[EMCIO]

# Name of IO controller program, e.g., io
EMCIO = io

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

Can I suggest a modest but potentially very useful mod for this?

A probe tip offset/compensation method.

I've bought a probe (admittedly not a Renishaw!) and getting the tip centered to any reasonable accuracy is turning out to be a right pain.

Given that the probe would always be mounted in the same orientation (not unreasonable as the cable kind of dictates a natural place and I'd mark the front of the probe body and always use that facing the front of the machine), I know that probing in -X it measures 0.12 less than +X, +Y some 0.08 more than +X and -Y 0.04 less than +X.

It's easy to measure the offsets by turning the probe through 90 degrees and probing a known face in +X so if I could enter those differences into the probe routines (it doesn't even need to be in the GUI, editing the .pref file or setting a value in the machine's .ini file would be fine) and the calculations took account of the offsets I wouldn't need to worry that the probe tip is not 100% on centre.

Any chance of getting this added? or is it already there? I see references to 'tool_offset[]' in probe_screen.py but that array doesn't seem to be set to anything (warning my Python skills are less than my levitation skills so I could be missing the blindingly obvious!).

Doesn't the tool table only provide for one offset per axis? or have I missed something?

If it is only one offset then that doesn't help when probing a corner or circle as that needs two or three offsets respectively (assuming +X is 0 ie the probe tip radius) and even for single axis probes I'd have to change it each time.

Looking at the code some more, the references to tool_offset[] seem to apply to X, Y and Z so that's not what I'm looking for.

However, probe_screen.py calls 'xminus.ngc', 'yminus.ngc' etc and somehow gets the result of the probe therein back into the Python code (probed_position_with_offsets()? is it the print from xminus.ngc that gets fed back into python? the python stuff doesn't reference 5061 or 5062).

When I get back in front of my mill, I'll try hacking xminus.ngc as, if my guesswork is right, a tweak along the lines of:

might do the trick.