eoffset_per_angle9
Compute external offset per angle
Usage
loadrt eoffset_per_angle [count=N|names=name1[,name2...]]
Overview
An offset is computed (from one of several functions) based on an input angle in degrees. The angle could be a rotary coordinate value or a spindle angle.
The computed offset is represented as an s32 kcounts output pin that is a compatible input to external offset pins like axis.L.eoffset-counts where L is the coordinate letter. Scaling of the s32 kcounts is controlled by the input (k) -- its reciprocal value is presented on an output pin (kreciprocal) for connection to axis.L.eoffset-scale. The default value for k should be suitable for most uses.
The built-in functions use pins fmult and rfraction to control the output frequency (or number of polygon sides) and amplitude respectively. The rfraction pin controls the offset amplitude as a fraction of the radius-ref pin.
One of the four built-in functions is specified by the fnum pin:
0: f0 inside polygon (requires fmult == nsides >= 3)
1: f1 outside polygon (requires fmult == nsides >= 3)
2: f2 sinusoid
3: f3 square wave
Unsupported fnum values default to use function f0.
Functions
eoffset-per-angle.N (requires a floating-point thread)
Pins
eoffset-per-angle.N.active bit in (default: 0)
|
From: motion.eoffset-active |
|---|---|
eoffset-per-angle.N.is-on bit in (default: 0)
|
From: halui.machine.is-on |
eoffset-per-angle.N.enable-in bit in (default: 0)
|
Enable Input |
eoffset-per-angle.N.radius-ref float in (default: 1)
|
Radius reference (see notes) |
eoffset-per-angle.N.angle float in (default: 0)
|
Input angle (in degrees) |
eoffset-per-angle.N.start-angle float in (default: 0)
|
Start angle (in degrees) |
eoffset-per-angle.N.fnum s32 in (default: 0)
|
Function selector (default 0) |
eoffset-per-angle.N.rfraction float in (default: 0.1)
|
Offset amplitude (+/- fraction of radius_ref) |
eoffset-per-angle.N.fmult float in (default: 6)
|
Offset frequency multiplier |
eoffset-per-angle.N.k u32 in (default: 10000)
|
Scaling Factor (if 0, use 10000) |
eoffset-per-angle.N.is-off bit out
|
invert is_on (for convenience) |
eoffset-per-angle.N.enable-out bit out
|
To: axis.L.eoffset-enable |
eoffset-per-angle.N.clear bit out
|
To: axis.L.eoffset-clear |
eoffset-per-angle.N.kcounts s32 out
|
To: axis.L.eoffset-counts |
eoffset-per-angle.N.kreciprocal float out
|
To: axis.L.eoffset-scale (1/k) |
eoffset-per-angle.N.eoffset-dbg float out
|
offset (debug pin--use kcounts & kreciprocal) |
eoffset-per-angle.N.state-dbg u32 out
|
state (debug pin) |
Examples
An example simulation configuration is provided at: configs/sim/axis/external_offsets/opa.ini. A simulated XZC machine uses the C coordinate angle to offset the transverse X coordinate according to the selected fnum function.
Notes
radius-ref: The computed offsets are based on the radius-ref pin value. This pin may be set to a constant radius value or controlled by a user interface or by g code program (using M68 and a motion.analog-out-NN pin for instance).
Stopping: When the enable-in pin is deasserted, the offset is returned to zero respecting the allocated acceleration and velocity limits. The allocations for coordinate L are typically controlled by an ini file setting: [AXIS_L]OFFSET_AV_RATIO.
If unsupported parameters are supplied to a function (for instance a polygon with fewer than three sides), the current offset will be returned to zero (respecting velocity and acceleration constraints). After correcting the offending parameter, the enable-in pin must be toggled to resume offset computations.
Releases
2 releases since Debian 12 (Bookworm); the text changed 1 time.