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canon.hh

Go to the documentation of this file.

#ifndef CANON_HH
#define CANON_HH

#include <stdio.h>              // FILE

/* canon.hh

This is the header file that all applications that use the
canonical commands for three- to six-axis machining should include.

Three mutually orthogonal (in a right-handed system) X, Y, and Z axes
are always present. In addition, there may be zero to three rotational
axes: A (parallel to the X-axis), B (parallel to the Y-axis), and C
(parallel to the Z-axis).

In the functions that use rotational axes, the axis value is that of a
wrapped linear axis, in degrees.

It is assumed in these activities that the spindle tip is always at
some location called the "current location," and the controller always
knows where that is. It is also assumed that there is always a
"selected plane" which must be the XY-plane, the YZ-plane, or the
ZX-plane of the machine.

*/

typedef int CANON_PLANE;
#define CANON_PLANE_XY 1
#define CANON_PLANE_YZ 2
#define CANON_PLANE_XZ 3

typedef int CANON_UNITS;
#define CANON_UNITS_INCHES 1
#define CANON_UNITS_MM 2
#define CANON_UNITS_CM 3

typedef int CANON_MOTION_MODE;
#define CANON_EXACT_STOP 1
#define CANON_EXACT_PATH 2
#define CANON_CONTINUOUS 3

typedef int CANON_SPEED_FEED_MODE;
#define CANON_SYNCHED 1
#define CANON_INDEPENDENT 2

typedef int CANON_DIRECTION;
#define CANON_STOPPED 1
#define CANON_CLOCKWISE 2
#define CANON_COUNTERCLOCKWISE 3

typedef int CANON_FEED_REFERENCE;
#define CANON_WORKPIECE 1
#define CANON_XYZ 2

typedef int CANON_SIDE;
#define CANON_SIDE_RIGHT 1
#define CANON_SIDE_LEFT 2
#define CANON_SIDE_OFF 3

typedef int CANON_AXIS;
#define CANON_AXIS_X 1
#define CANON_AXIS_Y 2
#define CANON_AXIS_Z 3
#define CANON_AXIS_A 4
#define CANON_AXIS_B 5
#define CANON_AXIS_C 6

/* Currently using the typedefs above rather than the enums below
typedef enum {CANON_PLANE_XY, CANON_PLANE_YZ, CANON_PLANE_XZ} CANON_PLANE;
typedef enum {CANON_UNITS_INCHES, CANON_UNITS_MM, CANON_UNITS_CM} CANON_UNITS;
typedef enum {CANON_EXACT_STOP, CANON_EXACT_PATH, CANON_CONTINUOUS}
             CANON_MOTION_MODE;
typedef enum {CANON_SYNCHED, CANON_INDEPENDENT} CANON_SPEED_FEED_MODE;
typedef enum {CANON_STOPPED, CANON_CLOCKWISE, CANON_COUNTERCLOCKWISE}
             CANON_DIRECTION;
typedef enum {CANON_WORKPIECE, CANON_XYZ} CANON_FEED_REFERENCE;
typedef enum {CANON_SIDE_RIGHT, CANON_SIDE_LEFT, CANON_SIDE_OFF} CANON_SIDE;
typedef enum {CANON_AXIS_X, CANON_AXIS_Y, CANON_AXIS_Z, CANON_AXIS_A,
              CANON_AXIS_B, CANON_AXIS_C} CANON_AXIS;
*/

struct CANON_VECTOR
{
  CANON_VECTOR() {}
  CANON_VECTOR(double _x, double _y, double _z) {x = _x; y = _y; z = _z;}
  double x, y, z;
};

struct CANON_POSITION
{
  CANON_POSITION() {}
  CANON_POSITION(double _x, double _y, double _z
#ifdef AA
                , double _a
#endif
#ifdef BB
                , double _b
#endif
#ifdef CC
                , double _c
#endif
)
  {
    x = _x; y = _y; z = _z;
#ifdef AA
    a = _a;
#endif
#ifdef BB
    b = _b;
#endif
#ifdef CC
    c = _c;
#endif
  }
  double x, y, z
#ifdef AA
       , a
#endif
#ifdef BB
       , b
#endif
#ifdef CC
       , c
#endif
;};

/* Tools are numbered 1..CANON_TOOL_MAX, with tool 0 meaning no tool. */
#define CANON_TOOL_MAX 128      // max size of carousel handled
#define CANON_TOOL_ENTRY_LEN 256 // how long each file line can be

struct CANON_TOOL_TABLE
{
  int id;
  double length;
  double diameter;
};

/* Initialization */

/* reads world model data into the canonical interface */
extern void INIT_CANON();

/* Representation */

extern void SET_ORIGIN_OFFSETS(
 double x, double y, double z
#ifdef AA
 , double a
#else
#ifdef ALL_AXES
 , double a
#endif
#endif
#ifdef BB
 , double b
#else
#ifdef ALL_AXES
 , double b
#endif
#endif
#ifdef CC
 , double c
#else
#ifdef ALL_AXES
 , double c
#endif
#endif
);

/* Offset the origin to the point with absolute coordinates x, y, z,
a, b, and c. Values of x, y, z, a, b, and c are real numbers. The units
are whatever length units are being used at the time this command is
given. */

extern void USE_LENGTH_UNITS(CANON_UNITS u);

/* Use the specified units for length. Conceptually, the units must
be either inches or millimeters. */


extern void SELECT_PLANE(CANON_PLANE pl);

/* Use the plane designated by selected_plane as the selected plane.
Conceptually, the selected_plane must be the XY-plane, the XZ-plane, or
the YZ-plane. */

/* Free Space Motion */

extern void SET_TRAVERSE_RATE(double rate);

/* Set the traverse rate that will be used when the spindle traverses. It
is expected that no cutting will occur while a traverse move is being
made. */

extern void STRAIGHT_TRAVERSE(
 double x, double y, double z
#ifdef AA
 , double a_position
#else
#ifdef ALL_AXES
 , double a_position
#endif
#endif
#ifdef BB
 , double b_position
#else
#ifdef ALL_AXES
 , double b_position
#endif
#endif
#ifdef CC
 , double c_position
#else
#ifdef ALL_AXES
 , double c_position
#endif
#endif
);
/*

Move at traverse rate so that at any time during the move, all axes
have covered the same proportion of their required motion. The final
XYZ position is given by x, y, and z. If there is an a-axis, its final
position is given by a_position, and similarly for the b-axis and c-axis.
A more positive value of a rotational axis is in the counterclockwise
direction.

Clockwise or counterclockwise is from the point of view of the
workpiece. If the workpiece is fastened to a turntable, the turntable
will turn clockwise (from the point of view of the machinist or anyone
else not moving with respect to the machining center) in order to make
the tool move counterclockwise from the point of view of the
workpiece.

*/

/* Machining Attributes */

extern void SET_FEED_RATE(double rate);

/*

SET_FEED_RATE sets the feed rate that will be used when the spindle is
told to move at the currently set feed rate. The rate is either:
1. the rate of motion of the tool tip in the workpiece coordinate system,
   which is used when the feed_reference mode is "CANON_WORKPIECE", or
2. the rate of motion of the tool tip in the XYZ axis system, ignoring
   motion of other axes, which is used when the feed_reference mode is
   "CANON_XYZ".

The units of the rate are:

1. If the feed_reference mode is CANON_WORKPIECE:
length units (inches or millimeters according to the setting of
CANON_UNITS) per minute along the programmed path as seen by the
workpiece.

2. If the feed_reference mode is CANON_XYZ:
A. For motion including one rotational axis only: degrees per minute.
B. For motion including two rotational axes only: degrees per minute
   In this case, the rate applies to the axis with the larger angle
   to cover, and the second rotational axis rotates so that it has
   always completed the same proportion of its required motion as has
   the rotational axis to which the feed rate applies.
C. For motion involving one or more of the XYZ axes (with or without
   simultaneous rotational axis motion): length units (inches or
   millimeters according to the setting of CANON_UNITS) per minute
   along the programmed XYZ path.

*/

extern void SET_FEED_REFERENCE(CANON_FEED_REFERENCE reference);

/*

This sets the feed_reference mode to either CANON_WORKPIECE or
CANON_XYZ.

The CANON_WORKPIECE mode is more natural and general, since the rate
at which the tool passes through the material must be controlled for
safe and effective machining. For machines with more than the three
standard XYZ axes, however, computing the feed rate may be
time-consuming because the trajectories that result from motion in
four or more axes may be complex. Computation of path lengths when
only XYZ motion is considered is quite simple for the two standard
motion types (straight lines and helical arcs).

Some programming languages (rs274kt, in particular) use CANON_XYZ
mode. In these languages, the task of dealing with the rate at which
the tool tip passes through material is pushed back on the NC-program
generator, where the computation of path lengths is (almost always in
1995) an off-line activity where speed of calculation is not critical.

In CANON_WORKPIECE mode, some motions cannot be carried out as fast as
the programmed feed rate would require because axis motions tend to
cancel each other. For example, an arc in the YZ-plane can exactly
cancel a rotation around the A-axis, so that the location of the tool
tip with respect to the workpiece does not change at all during the
motion; in this case, the motion should take no time, which is
impossible at any finite rate of axis motion. In such cases, the axes
should be moved as fast as possible consistent with accurate
machining.

It would be possible to omit the SET_FEED_REFERENCE command from the
canonical commands and operate always in one mode or the other,
letting the interpreter issue SET_FEED_RATE commands, if necessary to
compensate if the NC language being interpreted used the other mode.

This would create two disadvantages when the feed_reference mode
assumed by the canonical commands differed from that assumed by the NC
language being interpreted:

1. The output code could have a lot of SET_FEED_RATE commands not
found in the input code; this is a relatively minor consideration.

2. If the interpreter reads a program in language which uses the
CANON_XYZ mode and writes canonical commands in the CANON_WORKPIECE
mode, both the interpreter and the executor of the output canonical
commands would have to perform a lot of complex calculations. With the
SET_FEED_REFERENCE command available, both do only simple calculations
for the same motions.

*/

extern void SET_MOTION_CONTROL_MODE(CANON_MOTION_MODE mode);

/*

This sets the motion control mode to one of: CANON_EXACT_STOP,
CANON_EXACT_PATH, or CANON_CONTINUOUS.

*/

extern void SET_CUTTER_RADIUS_COMPENSATION(double radius);

/* Set the radius to use when performing cutter radius compensation. */

extern void START_CUTTER_RADIUS_COMPENSATION(int direction);

/* Conceptually, the direction must be left (meaning the cutter
stays to the left of the programmed path) or right. */

extern void STOP_CUTTER_RADIUS_COMPENSATION();

/* Do not apply cutter radius compensation when executing spindle
translation commands. */

extern void START_SPEED_FEED_SYNCH();
extern void STOP_SPEED_FEED_SYNCH();

/* Machining Functions */

extern void ARC_FEED(
 double first_end,
 double second_end,
 double first_axis,
 double second_axis,
 int rotation,
 double axis_end_point
#ifdef AA
 , double a_position
#else
#ifdef ALL_AXES
 , double a_position
#endif
#endif
#ifdef BB
 , double b_position
#else
#ifdef ALL_AXES
 , double b_position
#endif
#endif
#ifdef CC
 , double c_position
#else
#ifdef ALL_AXES
 , double c_position
#endif
#endif
);

/* Move in a helical arc from the current location at the existing feed
rate. The axis of the helix is parallel to the x, y, or z axis,
according to which one is perpendicular to the selected plane. The
helical arc may degenerate to a circular arc if there is no motion
parallel to the axis of the helix.

1. If the selected plane is the xy-plane:
A. first_end is the x-coordinate of the end of the arc.
B. second_end is the y-coordinate of the end of the arc.
C. first_axis is the x-coordinate of the axis (center) of the arc.
D. second_axis is the y-coordinate of the axis.
E. axis_end_point is the z-coordinate of the end of the arc.

2. If the selected plane is the yz-plane:
A. first_end is the y-coordinate of the end of the arc.
B. second_end is the z-coordinate of the end of the arc.
C. first_axis is the y-coordinate of the axis (center) of the arc.
D. second_axis is the z-coordinate of the axis.
E. axis_end_point is the x-coordinate of the end of the arc.

3. If the selected plane is the zx-plane:
A. first_end is the z-coordinate of the end of the arc.
B. second_end is the x-coordinate of the end of the arc.
C. first_axis is the z-coordinate of the axis (center) of the arc.
D. second_axis is the x-coordinate of the axis.
E. axis_end_point is the y-coordinate of the end of the arc.

If rotation is positive, the arc is traversed counterclockwise as
viewed from the positive end of the coordinate axis perpendicular to
the currently selected plane. If rotation is negative, the arc is
traversed clockwise. If rotation is 0, first_end and second_end must
be the same as the corresponding coordinates of the current point and
no arc is made (but there may be translation parallel to the axis
perpendicular to the selected plane and motion along the rotational axes).
If rotation is 1, more than 0 but not more than 360 degrees of arc
should be made. In general, if rotation is n, the amount of rotation
in the arc should be more than ([n-1] x 360) but not more than (n x
360).

The radius of the helix is determined by the distance from the current
location to the axis of helix or by the distance from the end location
to the axis of the helix. It is recommended that the executing system
verify that the two radii are the same (within some tolerance) at the
beginning of executing this function.

While the XYZ motion is going on, move the rotational axes so that
they have always covered the same proportion of their total motion as
a point moving along the arc has of its total motion.

*/

extern void STRAIGHT_FEED(
 double x, double y, double z
#ifdef AA
 , double a_position
#else
#ifdef ALL_AXES
 , double a_position
#endif
#endif
#ifdef BB
 , double b_position
#else
#ifdef ALL_AXES
 , double b_position
#endif
#endif
#ifdef CC
 , double c_position
#else
#ifdef ALL_AXES
 , double c_position
#endif
#endif
);

/* Move at existing feed rate so that at any time during the move,
all axes have covered the same proportion of their required motion.
The meanings of the parameters is the same as for STRAIGHT_TRAVERSE.*/

extern void STRAIGHT_PROBE (
 double x, double y, double z
#ifdef AA
 , double a_position
#else
#ifdef ALL_AXES
 , double a_position
#endif
#endif
#ifdef BB
 , double b_position
#else
#ifdef ALL_AXES
 , double b_position
#endif
#endif
#ifdef CC
 , double c_position
#else
#ifdef ALL_AXES
 , double c_position
#endif
#endif
);

/* Perform a probing operation. This is a temporary addition to the
canonical machining functions and its semantics are not defined.
When the operation is finished, all axes should be back where they
started. */

extern void STOP();

/* stop motion after current feed */

extern void DWELL(double seconds);

/* freeze x,y,z for a time */

/* Spindle Functions */

extern void SPINDLE_RETRACT_TRAVERSE();

/* Retract the spindle at traverse rate to the fully retracted position. */

extern void START_SPINDLE_CLOCKWISE();

/* Turn the spindle clockwise at the currently set speed rate. If the
spindle is already turning that way, this command has no effect. */

extern void START_SPINDLE_COUNTERCLOCKWISE();

/* Turn the spindle counterclockwise at the currently set speed rate. If
the spindle is already turning that way, this command has no effect. */

extern void SET_SPINDLE_SPEED(double r);

/* Set the spindle speed that will be used when the spindle is turning.
This is usually given in rpm and refers to the rate of spindle
rotation. If the spindle is already turning and is at a different
speed, change to the speed given with this command. */

extern void STOP_SPINDLE_TURNING();

/* Stop the spindle from turning. If the spindle is already stopped, this
command may be given, but it will have no effect. */

extern void SPINDLE_RETRACT();
extern void ORIENT_SPINDLE(double orientation, CANON_DIRECTION direction);
extern void LOCK_SPINDLE_Z();
extern void USE_SPINDLE_FORCE();
extern void USE_NO_SPINDLE_FORCE();

/* Tool Functions */
extern void USE_TOOL_LENGTH_OFFSET(double length);

extern void CHANGE_TOOL(int slot); /* slot is slot number */

/* It is assumed that each cutting tool in the machine is assigned to a
slot (intended to correspond to a slot number in a tool carousel).
This command results in the tool currently in the spindle (if any)
being returned to its slot, and the tool from the slot designated by
slot_number (if any) being inserted in the spindle.

If there is no tool in the slot designated by the slot argument, there
will be no tool in the spindle after this command is executed and no
error condition will result in the controller. Similarly, if there is
no tool in the spindle when this command is given, no tool will be
returned to the carousel and no error condition will result in the
controller, whether or not a tool was previously selected in the
program.

It is expected that when the machine tool controller is initialized,
the designated slot for a tool already in the spindle will be
established. This may be done in any manner deemed fit, including
(for, example) recording that information in a persistent, crash-proof
location so it is always available from the last time the machine was
run, or having the operator enter it. It is expected that the machine
tool controller will remember that information as long as it is
not re-initialized; in particular, it will be remembered between
programs.

For the purposes of this command, the tool includes the tool holder.

For machines which can carry out a select_tool command separately from
a change_tool command, the select_tool command must have been given
before the change_tool command, and the value of slot must be the slot
number of the selected tool. */

extern void SELECT_TOOL(int i); /* i is slot number */

/* Miscellaneous Functions */

extern void CLAMP_AXIS(CANON_AXIS axis);

/* Clamp the given axis. If the machining center does not have a clamp
for that axis, this command should result in an error condition in the
controller.

An attempt to move an axis while it is clamped should result in an
error condition in the controller. */

extern void COMMENT(char *s);

/* This function has no physical effect. If commands are being printed or
logged, the comment command is printed or logged, including the string
which is the value of comment_text. This serves to allow formal
comments at specific locations in programs or command files. */

extern void DISABLE_FEED_OVERRIDE();
extern void ENABLE_FEED_OVERRIDE();
extern void DISABLE_SPEED_OVERRIDE();
extern void ENABLE_SPEED_OVERRIDE();
extern void FLOOD_OFF();
/* Turn flood coolant off. */
extern void FLOOD_ON();
/* Turn flood coolant on. */

extern void MESSAGE(char *s);

extern void MIST_OFF();
/* Turn mist coolant off. */

extern void MIST_ON();
/* Turn mist coolant on. */

extern void PALLET_SHUTTLE();

/* If the machining center has a pallet shuttle mechanism (a mechanism
which switches the position of two pallets), this command should cause
that switch to be made. If either or both of the pallets are missing,
this will not result in an error condition in the controller.

If the machining center does not have a pallet shuttle, this command
should result in an error condition in the controller. */

extern void TURN_PROBE_OFF();
extern void TURN_PROBE_ON();

extern void UNCLAMP_AXIS(CANON_AXIS axis);

/* Unclamp the given axis. If the machining center does not have a clamp
for that axis, this command should result in an error condition in the
controller. */

/* NURB Functions */
extern void NURB_KNOT_VECTOR(); /* double knot values, -1.0 signals done */
extern void NURB_CONTROL_POINT(int i, double x, double y, double z, double w );
extern void NURB_FEED(double sStart, double sEnd);

/* Program Functions */
extern void OPTIONAL_PROGRAM_STOP();

/* If the machining center has an optional stop switch, and it is on
when this command is read from a program, stop executing the program
at this point, but be prepared to resume with the next line of the
program. If the machining center does not have an optional stop
switch, or commands are being executed with a stop after each one
already (such as when the interpreter is being used with keyboard
input), this command has no effect. */

extern void PROGRAM_END();
/* If a program is being read, stop executing the program and be prepared
to accept a new program or to be shut down. */

extern void PROGRAM_STOP();
/* If this command is read from a program, stop executing the program at
this point, but be prepared to resume with the next line of the
program. If commands are being executed with a stop after each one
already (such as when the interpreter is being used with keyboard
input), this command has no effect. */


/*************************************************************************/

/* Canonical "Give me information" functions for the interpreter to call

In general, returned values are valid only if any canonical do it commands
that may have been called for have been executed to completion. If a function
returns a valid value regardless of execution, that is noted in the comments
below.

*/

/* The interpreter is not using this function
// Returns the system angular unit factor, in units / degree
extern double GET_EXTERNAL_ANGLE_UNIT_FACTOR();
*/

// Returns the system feed rate
extern double GET_EXTERNAL_FEED_RATE();

// Returns the system value for flood coolant, zero = off, non-zero = on
extern int GET_EXTERNAL_FLOOD();

/* The interpreter is not using this function
// Returns the system length unit factor, in units / mm
extern double GET_EXTERNAL_LENGTH_UNIT_FACTOR();
*/


// Returns the system length unit type
CANON_UNITS GET_EXTERNAL_LENGTH_UNIT_TYPE();

// Returns the system value for mist coolant, zero = off, non-zero = on
extern int GET_EXTERNAL_MIST();

// Returns the current motion control mode
extern CANON_MOTION_MODE GET_EXTERNAL_MOTION_CONTROL_MODE();

/* The interpreter is not using these six GET_EXTERNAL_ORIGIN functions

#ifdef AA
// returns the current a-axis origin offset
extern double GET_EXTERNAL_ORIGIN_A();
#endif

#ifdef BB
// returns the current b-axis origin offset
extern double GET_EXTERNAL_ORIGIN_B();
#endif

#ifdef CC
// returns the current c-axis origin offset
extern double GET_EXTERNAL_ORIGIN_C();
#endif

// returns the current x-axis origin offset
extern double GET_EXTERNAL_ORIGIN_X();

// returns the current y-axis origin offset
extern double GET_EXTERNAL_ORIGIN_Y();

// returns the current z-axis origin offset
extern double GET_EXTERNAL_ORIGIN_Z();

*/

// returns nothing but copies the name of the parameter file into
// the filename array, stopping at max_size if the name is longer
// An empty string may be placed in filename.
extern void GET_EXTERNAL_PARAMETER_FILE_NAME(char * filename, int max_size);

// returns the currently active plane
extern CANON_PLANE GET_EXTERNAL_PLANE();

#ifdef AA
// returns the current a-axis position
extern double GET_EXTERNAL_POSITION_A();
#endif

#ifdef BB
// returns the current b-axis position
extern double GET_EXTERNAL_POSITION_B();
#endif

#ifdef CC
// returns the current c-axis position
extern double GET_EXTERNAL_POSITION_C();
#endif

// returns the current x-axis position
extern double GET_EXTERNAL_POSITION_X();

// returns the current y-axis position
extern double GET_EXTERNAL_POSITION_Y();

// returns the current z-axis position
extern double GET_EXTERNAL_POSITION_Z();

#ifdef AA
// Returns the machine A-axis position at the last probe trip.
extern double GET_EXTERNAL_PROBE_POSITION_A();
#endif

#ifdef BB
// Returns the machine B-axis position at the last probe trip.
extern double GET_EXTERNAL_PROBE_POSITION_B();
#endif

#ifdef CC
// Returns the machine C-axis position at the last probe trip.
extern double GET_EXTERNAL_PROBE_POSITION_C();
#endif

// Returns the machine X-axis position at the last probe trip.
extern double GET_EXTERNAL_PROBE_POSITION_X();

// Returns the machine Y-axis position at the last probe trip.
extern double GET_EXTERNAL_PROBE_POSITION_Y();

// Returns the machine Z-axis position at the last probe trip.
extern double GET_EXTERNAL_PROBE_POSITION_Z();

// Returns the value for any analog non-contact probing.
extern double GET_EXTERNAL_PROBE_VALUE();

// Returns zero if queue is not empty, non-zero if the queue is empty
// This always returns a valid value
extern int GET_EXTERNAL_QUEUE_EMPTY();

// Returns the system value for spindle speed in rpm
extern double GET_EXTERNAL_SPEED();

// Returns the system value for direction of spindle turning
extern CANON_DIRECTION GET_EXTERNAL_SPINDLE();

// returns current tool length offset
extern double GET_EXTERNAL_TOOL_LENGTH_OFFSET();

// Returns number of slots in carousel
extern int GET_EXTERNAL_TOOL_MAX();

// Returns the system value for the carousel slot in which the tool
// currently in the spindle belongs. Return value zero means there is no
// tool in the spindle.
extern int GET_EXTERNAL_TOOL_SLOT();

// Returns the CANON_TOOL_TABLE structure associated with the tool
// in the given pocket
extern CANON_TOOL_TABLE GET_EXTERNAL_TOOL_TABLE(int pocket);

// Returns the system traverse rate
extern double GET_EXTERNAL_TRAVERSE_RATE();

extern FILE * _outfile;      /* where to print, set in main */
extern CANON_TOOL_TABLE _tools[];   /* in canon.cc */
extern int _tool_max;               /* in canon.cc */
extern char _parameter_file_name[]; /* in canon.cc */
#define PARAMETER_FILE_NAME_LENGTH 100

#endif /* ifndef CANON_HH */

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