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387 lines
14 KiB
Text
387 lines
14 KiB
Text
:lang: en
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:toc:
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= TkLinuxCNC
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// Custom lang highlight
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// must come after the doc title, to work around a bug in asciidoc 8.6.6
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:ini: {basebackend@docbook:'':ini}
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:hal: {basebackend@docbook:'':hal}
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:ngc: {basebackend@docbook:'':ngc}
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== Menus
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*File -> Run...*::
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Prompts for an NC program to run. +
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You need to be in Auto mode, or you'll get an error.
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*File -> Reset*::
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Resets the interpreter. +
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The modal G- and M-codes are set to their defaults.
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*File -> Quit*::
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Quits the Tkemc graphical application. +
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The controller will also shut down.
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*View -> Tools*::
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Shows the tool table. +
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You can edit the table. +
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Selecting the 'Done' button will save the table and reload it into the
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controller. +
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Note that Tab and Return affect the text, so you have to click the
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'Done' button with the mouse.
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*View -> Offsets and Variables*::
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Shows the interpreter parameters, which hold the work offsets and user
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variables. +
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You can edit the file. +
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Selecting the Done button will save the file and reload it into the
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controller. +
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Note that Tab and Return affect the text, so you have to click the
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Done button with the mouse.
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*Settings -> Relative Display, Actual Display*::
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Sets the display to show positions as relative to the current work
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offset, or in absolute machine coordinates. +
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In relative display mode, the work offsets are shown also.
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*Settings -> Actual Position, Commanded Position*::
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Sets the display to show either the actual position of the axes, as
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reported by their feedback, or the commanded position, which is where
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the controller is commanding them to go.
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*Help -> Help...*::
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Brings up this help window.
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*Help -> About...*::
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Brings up a credits window.
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== Status Command Buttons
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The buttons in the next two rows are labeled according to the current
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EMC status. Click on them to pop up menus that send commands to the
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EMC. The labels on these buttons will change to reflect the new
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status.
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*ON/ESTOP - RESET/ESTOP*::
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Changes the power state of the machine. +
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At startup the machine is in ESTOP. Selecting Estop Reset will enable
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the estop circuitry, but the servos will not yet be enabled. Selecting
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Machine On will enable the servos. Selecting Machine Off will disable
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the servos. Selecting Estop at any time will return the machine to the
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initial estopped state. Function keys F1 and F2 will toggle the states
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of the estop and servo systems, respectively. The Function Keys are
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listed completely below.
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[WARNING]
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*SAFETY NOTE:* ESTOP will put the machine into the estopped state, but
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should not be relied on for this action in the event of an emergency.
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Always use the hardware estop to assure physical disabling of the
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machine.
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*MANUAL / AUTO / MDI*::
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Changes the execution mode of the machine. +
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*Manual mode*;;
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Allows the operator to jog and home the axes, and control
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the coolant and spindle. +
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Function key F3 puts the controller into Manual mode.
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*Auto mode*;;
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Allows the operator to load programs into the machine, run
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them, and pause/step/resume them. +
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F4 puts the controller into Auto mode.
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*Manual Data Input (MDI)*;;
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Mode allows the operator to type in blocks of NC code interactively. +
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F5 puts the controller into MDI mode.
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*MIST ON/OFF, FLOOD ON/OFF*::
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Turns mist or flood coolant on or off. +
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Function key F7 toggles the state of the mist coolant. +
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Function key F8 toggles the state of the flood coolant. +
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These buttons and function keys only work in Manual mode.
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*SPINDLE FORWARD/REVERSE/OFF*::
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Turns the spindle on forward, reverse,or off.
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Function key F9 turns the spindle on forward if it's off, or off if it's
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on. +
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F10 turns the spindle on reverse if it's off, or off it it's on. +
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These buttons and function keys only work in Manual mode.
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+
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The speed of the spindle can be decreased or increased using the < and >
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buttons to the left and right of the spindle control button,
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respectively. +
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F11 and F12, while pressed, decrease or increase the spindle speed,
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respectively, until they are released. +
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These buttons and function keys work in Manual, Auto, or MDI mode. +
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They are not active when the spindle is off.
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*BRAKE ON/OFF*::
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Puts the spindle brake on, or releases it. +
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This can be used to manually operate the spindle brake for maintenance
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or tramming operations. +
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The 'B' and 'b' key, in Manual mode,
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*ABORT*::
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Stops all motion and any program that is running. +
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The Escape key accomplishes the same result. +
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Use ABORT or the Escape key to stop machine motions while testing
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programs.
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NOTE: ABORT will not affect the estop state of the machine.
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== Tool and Tool Offset
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At the left, below the command buttons, is a display of the currently
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loaded tool and the tool offset, if any. A value of 0 for the Tool
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means that no tool is in the spindle. The offset is non-zero if a tool
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length offset is active.
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== Position Display Options and Work Offsets
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At the right, below the command buttons, is a display showing how to
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interpret the position numbers. There are two sources of position
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feedback, either Commanded or Actual. Commanded numbers are what the
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motion system asks for, and is not necessarily what the machine axes
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positions are (servo lag may mean they are different). Actual numbers
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reflect the current position of the axes. Normally, actual numbers are
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what you want. In some cases, for example running a program in
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simulation with the axes inhibited or disconnected, commanded numbers
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are what you want.
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Position numbers can also be Absolute or Relative. Absolute numbers
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are not affected by any work offsets in a program. They are relative
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to the machine home position. Relative numbers include any work
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offset. If Relative numbers are selected, the applicable Work Offsets
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are shown.
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To change these settings, use the '@' key for Commanded/Actual, and
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the '#' key for Absolute/Relative. The default values can be set in
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the INI file, e.g.,
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[source,{ini}]
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----
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[DISPLAY]
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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----
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or
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[source,{ini}]
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----
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[DISPLAY]
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POSITION_OFFSET = ABSOLUTE
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POSITION_FEEDBACK = COMMANDED
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----
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== Axis Positions
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Axis positions are displayed in a large font in the middle of the
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display. The values are interpreted in units, commanded/actual, and
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absolute/relative, as described above.
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The color of the numbers shows the state of each axis. Yellow numbers
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mean the axis has not yet been homed. Green numbers mean the axis has
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been homed and is within limits. Red numbers mean the axis is at a
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soft or hard limit.
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== Axis Command Buttons
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Below the axis position numbers is a row of command buttons that
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affect axis motion. The Axis Speed setting, displayed in units/minute,
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can be changed by clicking and holding the < or > buttons until the
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desired setting is reached.
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The Increment button shows the current
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value of the jog increment, or "continuous" for continuous
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jogging. Clicking on this button brings up a menu that changes the jog
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increment or selects continuous jogging.
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The Axis Motion buttons jog an axis in the negative direction using
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the "-" button, positive direction using the "+" button, or home the
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axis using the "home" button.
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The Feed Override value in percent is displayed, and can be changed by
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clicking and holding the < or > buttons until the desired setting is
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reached.
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== Manual Data Input (MDI) Box
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Below the axis command buttons is an input box labeled "MDI:" that is
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active when the machine is in manual data input (MDI) mode. You can
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type NC code statements into this box, and hit Enter to send the
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command. Note that many of the function and alphanumeric accelerator
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keys don't work as accelerator keys, so that they can be used to
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compose MDI statements. Keys F1-F5 (estop state and Manual/Auto/MDI
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mode), and F11-F12 (spindle speed control) do work; others do not.
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Below the MDI box is a display of the current modal settings for G, M,
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F, and S codes. These are only valid when in MDI mode. In Auto mode,
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they hold the modal values up to the point where the interpreter has
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read, usually far ahead of the executing line in the program. They do,
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however, always show the modal groups that are applicable when you
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next enter an MDI line.
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== Program Display
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At the bottom of the main screen is a label showing the current
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program, or the last program loaded. Below this is a row of command
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buttons to Open, Run, Pause, Resume, or Step the program. The Open
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button is identical to the File->Open... menu at the top, as is the
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'o' or 'O' accelerator. The run, pause, resume, and step accelerators
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are 'r', 'p', 's', and 'a', respectively, lower or upper case.
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The window at the bottom shows a few lines of text of the currently
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loaded program. The display window is moved through the program so
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that the currently executing line is always at the top.
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== Function and Accelerator Keys
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----
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Escape abort motion <-|
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F1 toggle estop/estop reset state |
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F2 toggle machine off/machine on state |- work in MDI mode also
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F3 Manual mode |
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F4 Auto mode |
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F5 MDI mode <-|
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F6 reset interpreter
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F7 toggle mist on/mist off
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F8 toggle flood on/flood off
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F9 toggle spindle forward/off
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F10 toggle spindle reverse/off
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F11 decrease spindle speed <-|- work in MDI mode also
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F12 increase spindle speed <-|
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x select X axis
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y select Y axis
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z select Z axis
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Left, Right Arrow jog X axis
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Up, Down Arrow jog Y axis
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Page Up, Down jog Z axis
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Home home selected axis
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<, > decrement or increment axis speed
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c/C select continuous jogging
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i/I select incremental jog, and toggle through increments
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1-9,0 set feed override to 10%-90%, 0 is 100%
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@ toggle commanded/actual position display
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# toggle absolute/relative position display
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o/O open a program
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r/R run an opened program
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p/P pause an executing program
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s/S resume a paused program
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a/A step one line in a paused program
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b take spindle brake off
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Alt-b put spindle brake on
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----
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Note that MDI mode disables most of the keys, since they are valid
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symbols that can be typed in. F1-F5 work in MDI, as do the spindle
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speed change keys F11 and F12.
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== The RS-274-NGC Interpreter
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The EMC runs a dialect of RS-274 "G-codes" that originated from
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Allen-Bradley as part of their work for the National Center for
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Manufacturing Sciences (NCMS) on the Next Generation Controller (NGC)
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project. The dialect is similar to the Fanuc series of CNCs.
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.G-codes
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[%header,frame=ends,grid=none,cols="1,3"]
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|===
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|Code | Description
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|G00 X Y Z | rapid feed
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|G01 X Y Z | linear feed, e.g., G01 X10 Y20 Z30 F60 for 60 ipm
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|G02 X Y Z I J | clockwise circular feed (helical with Z)
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|G03 X Y Z I J | counterclockwise circular feed (helical with Z)
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|G04 P<#> | dwell # of seconds
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|G10 L2 P<#> X Y Z | set coordinates for system #1-9, 1 = G54, 9 = G59.3
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|G17 | XY plane circular interpolation
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|G18 | ZX plane circular interpolation
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|G19 | YZ plane circular interpolation
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|G20 | English units (inches)
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|G21 | metric units (millimeters)
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|G40 | cancel cutter compensation
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|G41 D<#> | cutter compensation for tool <#>, tool on left
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|G42 D<#> | cutter compensation for tool <#>, tool on right
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|G43 H<#> | use tool length offset for tool #, 0 = no offset
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|G49 | cancel tool length offset
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|G53 | turn any coordinate offsets off for this block
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|G54 | use coordinate offsets for system #1, from G10 L2 P1
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|G55 | "" for system #2, from G10 L2 P2
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|G56 | "" for system #3, from G10 L2 P3
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|G57 | "" for system #4, from G10 L2 P4
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|G58 | "" for system #5, from G10 L2 P5
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|G59 | "" for system #6, from G10 L2 P6
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|G59.1 | "" for system #7, G10 L2 P7
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|G59.2 | "" for system #8, G10 L2 P8
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|G59.3 | "" for system #9, G10 L2 P9
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|G61 | exact stop mode
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|G64 | cutting mode
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|G76 | threading canned cycle
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|G80 | cancel fixed (canned) cycle
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|G81 | drilling cycle, no dwell, rapid out
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|G82 | drilling cycle, dwell, rapid out
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|G83 | deep hole peck drilling cycle
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|G84 | tapping cycle
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|G85 | boring cycle, no dwell, feed out
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|G86 | boring cycle, spindle stop, rapid out
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|G87 | back boring cycle
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|G88 | boring cycle, spindle stop, manual out
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|G89 | boring cycle, with dwell, feed out
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|G90 | non-incremental programming (the usual)
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|G91 | incremental programming
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|G93 | inverse time feed mode
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|G94 | feed per minute mode (the usual)
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|G98,G99 | set canned cycle return level
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|===
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.M-codes
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[%header,frame=ends,grid=none,cols="1,3"]
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|===
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|Code | Description
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|M0 | optional program stop
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|M1 | program stop
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|M2 | program end
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|M3 | turn spindle clockwise, e.g., S1000 M3 for 1000 rpm
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|M4 | turn spindle counterclockwise
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|M5 | turn spindle off
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|M6 | tool change, e.g., T1 M6 for tool 1
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|M7 | mist coolant on
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|M8 | flood coolant on
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|M9 | all coolant off
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|M48 | disable override control for M50-51 switches
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|M49 | enable override control for M50-51 switches
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|M50 | enable/disable feed override
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|M51 | enable/disable spindle speed override
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|M52 | enable/disable adaptive feed override
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|M53 | enable/disable feed hold
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|M62 |
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|.. | digital IO control
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|M65 |
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|M100..M199 | user defined commands
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|===
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(check the user manual for details).
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== Frequently Asked Questions (FAQ)
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[qanda]
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The axes don't move when I try to jog them::
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Make sure you're out of estop, in Manual mode.
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Software limits don't work. I can jog past a soft limit.::
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Software limits only work when an axis has been homed, since
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otherwise the machine doesn't know where the limits really are.
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Why doesn't the mouse or return key work?::
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Sometimes the cursor needs to be in the part of the window with the
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text in it. Move the cursor to a different region and try it.
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Why are the modal G- and M-codes not correct in Auto mode?::
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The modes that will be active when you enter MDI mode are
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shown. These are read ahead of actual program execution.
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How can I change the fonts/colors/sizes in the Tkemc display?::
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The "Tkemc" file in the emc/ directory contains the X resources used
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by the program. Almost nothing is hard coded in the program
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itself. You can change any of these values and see the effects.
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// vim: set syntax=asciidoc:
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