User Manual V2.2 The EMC Team February 10, 2009 i This handbook is a work in progress. If you are able to help with writing, editing, or graphic preparation please contact any member of the writing team or join and send an email to emc- [email protected]. Copyright (c) 2000-7 LinuxCNC.org Permission is granted to copy, distribute and/or modify this document under the terms of the GNU Free Documentation License, Version 1.1 or any later version published by the Free Software Foundation; with no Invariant Sections, no Front-Cover Texts, and one Back-Cover Text: "This EMC Handbook is the product of several authors writing for linuxCNC.org. As you find it to be of value in your work, we invite you to contribute to its revision and growth." A copy of the license is included in the section entitled "GNU Free Documentation License". If you do not find the license you may order a copy from Free Software Foundation, Inc. 59 Temple Place, Suite 330 Boston, MA 02111-13 Contents Cover i Contents 1 1 EMC2 3 1.1 This Manual...........................................3 1.2 How EMC2 Works........................................3 1.3 Graphical User Interfaces...................................4 1.4 Thinking Like a Machine Operator..............................5 1.5 Modes of Operation.......................................6 Forword 3 2 Important Concepts 7 2.1 Trajectory Control........................................7 2.1.1 Trajectory Planning...................................7 2.1.2 Path Following......................................7 2.1.3 Programming the Planner...............................8 2.1.4 Planning Moves.....................................8 I Interfaces 9 3 AXIS 10 3.1 Introduction........................................... 10 3.2 Getting Started.......................................... 10 3.2.1 A typical session..................................... 10 3.3 Axis Display........................................... 11 3.3.1 Menu Items........................................ 12 3.3.1.1 File......................................... 12 3.3.1.2 Open......................................... 12 3.3.1.3 Edit.......................................... 12 3.3.1.4 Reload....................................... 12 ii CONTENTS iii 3.3.1.5 Save gcode as..................................... 12 3.3.1.6 Properties..................................... 12 3.3.1.7 Edit tool table.................................... 12 3.3.1.8 Reload tool table................................. 12 3.3.1.9 Ladder editor................................... 12 3.3.1.10Quit........................................ 13 3.3.1.11Machine...................................... 13 3.3.1.12Toggle Emergency Stop F1........................... 13 3.3.1.13Toggle Machine Power F2............................ 13 3.3.1.14Set next line.................................... 13 3.3.1.15Run Program................................... 13 3.3.1.16Run a program................................... 13 3.3.1.17Step........................................ 13 3.3.1.18Pause....................................... 13 3.3.1.19Resume...................................... 13 3.3.1.20Stop........................................ 13 3.3.1.21Stop at M1.................................... 13 3.3.1.22Skip lines with "/"................................ 13 3.3.1.23Clear MDI history................................ 13 3.3.1.24Copy from MDI history............................. 14 3.3.1.25Paste to MDI history............................... 14 3.3.1.26Calibration.................................... 14 3.3.1.27Show HAL Configuration............................ 14 3.3.1.28HAL Meter..................................... 14 3.3.1.29HAL Scope..................................... 14 3.3.1.30Show EMC Status................................ 14 3.3.1.31Set Debug Level................................. 14 3.3.1.32Homing...................................... 14 3.3.1.33Zero Coordinate System............................. 14 3.3.1.34View........................................ 15 3.3.1.35Top View...................................... 15 3.3.1.36Rotated Top View................................. 15 3.3.1.37Side View..................................... 15 3.3.1.38Front View..................................... 15 3.3.1.39Perspective View................................. 15 3.3.1.40Display Inches.................................. 15 3.3.1.41Display MM.................................... 15 3.3.1.42Show Program.................................. 15 CONTENTS iv 3.3.1.43Show Program Rapids.............................. 15 3.3.1.44Show Live Plot.................................. 15 3.3.1.45Show Tool..................................... 15 3.3.1.46Show Extents................................... 15 3.3.1.47Show Machine Limits.............................. 15 3.3.1.48Show Velocity................................... 15 3.3.1.49Show Distance to Go............................... 15 3.3.1.50Clear Live Plot.................................. 15 3.3.1.51Show Commanded Position........................... 15 3.3.1.52Show Actual Position.............................. 15 3.3.1.53Show Machine Position............................. 15 3.3.1.54Show Relative Position............................. 15 3.3.1.55Help........................................ 15 3.3.1.56About AXIS.................................... 15 3.3.1.57Quick Reference................................. 15 3.3.2 Toolbar buttons..................................... 16 3.3.3 Graphical Display Area................................. 17 3.3.3.1 Coordinate Display................................ 17 3.3.3.2 Preview Plot.................................... 17 3.3.3.3 Program Extents................................. 17 3.3.3.4 Tool Cone..................................... 17 3.3.3.5 Backplot...................................... 18 3.3.3.6 Interacting.................................... 18 3.3.4 Text Display Area.................................... 19 3.3.5 Manual Control..................................... 19 3.3.5.1 The “Axis” group................................. 19 3.3.5.2 The “Spindle” group............................... 20 3.3.5.3 The “Coolant” group............................... 20 3.3.6 Code Entry........................................ 20 3.3.6.1 History....................................... 20 3.3.6.2 MDI Command.................................. 20 3.3.6.3 Active G-Codes.................................. 21 3.3.7 Feed Override...................................... 21 3.3.8 Spindle Speed Override................................. 21 3.3.9 Jog Speed........................................ 21 3.4 Keyboard Controls........................................ 22 3.5 Show EMC Status........................................ 22 3.6 MDI Interface........................................... 22 CONTENTS v 3.7 axis-remote............................................ 23 3.8 Manual Tool Change...................................... 23 3.9 Python modules......................................... 24 3.10 Lathe Mode............................................ 24 3.11 Advanced Configuration.................................... 25 3.11.1 Program Filters..................................... 25 3.11.2 The X Resource Database............................... 26 3.11.3 Physical jog wheels................................... 27 3.11.4 axisrc........................................... 27 3.11.5 External Editor..................................... 27 3.11.6 Virtual Control Panel.................................. 27 3.11.7 Special Comments.................................... 27 4 TkEMC 28 4.1 Introduction........................................... 28 4.2 Getting Started.......................................... 28 4.2.1 A typical session with TkEMC............................. 29 4.3 Elements of the TkEMC window................................ 29 4.3.1 Main buttons....................................... 30 4.3.2 Offset display status bar................................ 30 4.3.3 Coordinate Display Area................................ 30 4.3.3.1 Backplot...................................... 30 4.3.4 Automatic control.................................... 31 4.3.4.1 Buttons for control................................ 31 4.3.4.2 Text Program Display Area........................... 31 4.3.5 Manual Control..................................... 31 4.3.5.1 Implicit keys................................... 31 4.3.5.2 The “Spindle” group............................... 32 4.3.5.3 The “Coolant” group............................... 32 4.3.6 Code Entry........................................ 32 4.3.6.1 MDI:........................................ 32 4.3.6.2 Active G-Codes.................................. 32 4.3.7 Jog Speed........................................ 33 4.3.8 Feed Override...................................... 33 4.3.9 Spindle speed Override................................. 33 4.4 Keyboard Controls........................................ 33 CONTENTS vi 5 MINI 34 5.1 Introduction........................................... 34 5.2 Screen layout........................................... 34 5.3 Menu Bar............................................. 34 5.4 Control Button Bar....................................... 36 5.4.1 MANUAL......................................... 36 5.4.2 AUTO........................................... 37 5.4.3 MDI............................................ 37 5.4.4 [FEEDHOLD] – [CONTINUE].............................. 38 5.4.5 [ABORT]......................................... 38 5.4.6 [ESTOP].........................................