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Experimental simulation of a 5axis Mill/Turn machine (eg MAZAK Integrex 200Y)

Implemented Gcodes:

- 'G67 B':          Moves the B-axis to the 'B'-word position and activates 'HALF TCP Lathe' mode.
- 'G68 B (X Y Z)':  Moves the B-axis to the 'B'-word position then defines and activates a work plane perpendicular the this current tool orientation with the origin at the current WCS (optionally offset by any [X,Y,Z]-Words). This will change WCS to 'G59' where the transformed work offset values have been written to (ie the prior values stored in G59 will be lost!).
- 'G68.1 (X Y Z)':  Defines and activates a work plane perpendicular the the current tool orientation with the origin at the current WCS (optionally offset by any [X,Y,Z]-Words). For change to WCS see 'G68'
- 'G69':            Cancels the work plane set by 'G68' and (currently) switches back to 'G54'.

NOTES:
- This config defines the work-spindle as '$0' and the tool-spindle as '$1'. Example: 'M19 $1 R90' will orient the tool-spindle to 90°. (For real hardware it is recommended to use the spindle encoder-position instead of using 'spindle.1.orient-angle'.)
- 'HALF/FULL TCP MILL/LATHE' modes include tracking of tool-spindle rotation.
- 'HALF TCP MILL/LATHE' modes do not track the work spindle rotation, this is intended behavior.
- 'FULL TCP MILL' mode will track all rotations.
- Tool-offsets must only be changed in 'Identity' mode as it may cause sudden joint movements otherwise.
- Lathe tools must only be used in 'Identity' or 'HALF TCP Lathe' mode.
- Mill tools must only be used in 'HALF/FULL TCP Mill' or 'TWP' mode.
- Due to easier abort handling we currently restrict the use of twp to G54 as LinuxCNC seems to revert to G54 as the default system.
  Abort behavior can be handled by using a subroutine defined in the ini file under [RS274NGC]ON_ABORT_COMMAND'.
- The TWP remap code in this config does not implement virtual rotations (ie no optional 'R' word).

        if "G43" in self.active_gcodes:
            self.command.wait_complete()
            self.command.mode(linuxcnc.MODE_MDI)
            self.command.wait_complete()
            self.command.mdi("G43")
            self.command.wait_complete()
            self.command.mode(linuxcnc.MODE_MANUAL)
            self.command.wait_complete()
        
        self.stat.poll()    
        toolinfo = self.widgets.tooledit1.get_toolinfo(self.stat.tool_in_spindle)
        if toolinfo:
            self.widgets.lbl_tool_no.set_text(str(toolinfo[1]))
            self.widgets.lbl_tool_dia.set_text(toolinfo[12])
            self.halcomp["tool-diameter"] = float(locale.atof(toolinfo[12]))
            self.widgets.lbl_tool_name.set_text(toolinfo[16])  

libnml/buffer/shmem.cc 320: Shared memory buffers toolCmd and toolCmd may conflict. (key=1004(0x3EC))
libnml/buffer/shmem.cc 320: Shared memory buffers toolSts and toolSts may conflict. (key=1005(0x3ED))
libnml/buffer/shmem.cc 320: Shared memory buffers emcError and emcError may conflict. (key=1003(0x3EB))

Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 370, in dataChanged
    self.reload_offsets()
  File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 232, in reload_offsets
    temp[STATUS.stat.g5x_index-1] = STATUS.stat.g5x_offset
    ~~~~^^^^^^^^^^^^^^^^^^^^^^^^^
TypeError: 'tuple' object does not support item assignment

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 373, in dataChanged
    self.reload_offsets()
  File "/usr/lib/python3/dist-packages/qtvcp/widgets/origin_offsetview.py", line 232, in reload_offsets
    temp[STATUS.stat.g5x_index-1] = STATUS.stat.g5x_offset
    ~~~~^^^^^^^^^^^^^^^^^^^^^^^^^
TypeError: 'tuple' object does not support item assignment

lsmod | grep ec_generic
sudo modprobe ec_generic
lsmod | grep ec_generic

it works again

This is enough of a workaround for me. I can also do updates in the future with a clear conscience?
 

Master0
  Phase: Idle
  Active: no
  Slaves: 5
  Ethernet devices:
    Main: 80:ee:73:fd:0f:8b (attached)
      Link: UP
      Tx frames:   409178
      Tx bytes:    24554240
      Rx frames:   409177
      Rx bytes:    24554180
      Tx errors:   0
      Tx frame rate [1/s]:    123    123    125
      Tx rate [KByte/s]:      7.2    7.2    7.2
      Rx frame rate [1/s]:    123    123    125
      Rx rate [KByte/s]:      7.2    7.2    7.2
    Common:
      Tx frames:   409178
      Tx bytes:    24554240
      Rx frames:   409177
      Rx bytes:    24554180
      Lost frames: 0
      Tx frame rate [1/s]:    123    123    125
      Tx rate [KByte/s]:      7.2    7.2    7.2
      Rx frame rate [1/s]:    123    123    125
      Rx rate [KByte/s]:      7.2    7.2    7.2
      Loss rate [1/s]:          0      0      0
      Frame loss [%]:         0.0    0.0    0.0
  Distributed clocks:
    Reference clock:   Slave 0
    DC reference time: 0
    Application time:  0
                       2000-01-01 00:00:00.000000000
roger@roger:~$ ethercat slaves
0  0:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  PREOP  +  EL1008 8K. Dig. Eingang 24V, 3ms
2  0:2  PREOP  +  EL1008 8K. Dig. Eingang 24V, 3ms
3  0:3  PREOP  +  EL2008 8K. Dig. Ausgang 24V, 0.5A
4  0:4  PREOP  +  L8EC(COE)
roger@roger:~$

ec_generic             16384  0
ec_master             397312  1 ec_generic
snd_hda_codec_generic    98304  1 snd_hda_codec_realtek
ledtrig_audio          16384  1 snd_hda_codec_generic
snd_hda_codec         188416  6 snd_hda_codec_generic,snd_hda_codec_hdmi,snd_hda_intel,snd_hda_codec_realtek,snd_soc_hdac_hda,snd_sof_intel_hda
snd_hda_core          122880  9 snd_hda_codec_generic,snd_hda_codec_hdmi,snd_hda_intel,snd_hda_ext_core,snd_hda_codec,snd_hda_codec_realtek,snd_sof_intel_hda_common,snd_soc_hdac_hda,snd_sof_intel_hda
snd                   126976  15 snd_hda_codec_generic,snd_hda_codec_hdmi,snd_hwdep,snd_hda_intel,snd_hda_codec,snd_hda_codec_realtek,snd_sof,snd_timer,snd_compress,snd_soc_core,snd_pcm
ec_generic             16384  0
ec_master             397312  1 ec_generic
snd_hda_codec_generic    98304  1 snd_hda_codec_realtek
ledtrig_audio          16384  1 snd_hda_codec_generic
snd_hda_codec         188416  6 snd_hda_codec_generic,snd_hda_codec_hdmi,snd_hda_intel,snd_hda_codec_realtek,snd_soc_hdac_hda,snd_sof_intel_hda
snd_hda_core          122880  9 snd_hda_codec_generic,snd_hda_codec_hdmi,snd_hda_intel,snd_hda_ext_core,snd_hda_codec,snd_hda_codec_realtek,snd_sof_intel_hda_common,snd_soc_hdac_hda,snd_sof_intel_hda
snd                   126976  15 snd_hda_codec_generic,snd_hda_codec_hdmi,snd_hwdep,snd_hda_intel,snd_hda_codec,snd_hda_codec_realtek,snd_sof,snd_timer,snd_compress,snd_soc_core,snd_pcm