Vismach

Vismach is a simulator to show 3D previews of a physical machine. Vismach.py is a python library to draw objects in the simulation window. It is located in /usr/share/pyshare (can't find it on git - was it removed?). The simultion itself needs a script, which is based on vismach.py. The scripts are located in /usr/bin. They are included in the .hal file of your machine with "loadusr". Following things are described in the script:

• geometry is defined or loaded from a .stl or .obj file
• joints are defined an and connected to a hal PIN
• colour is definded

At the moment, these simulations are available:

• 5axisgui
• hbmgui
• hexagui
• maho600gui
• max5gui
• puma560gui
• pumagui
• scaragui

Classes defined in vismach.py

Details about functions can be found from vismach.py itself and the already existing examples like 5axisgui or scaragui; a short summary follows:

Transform/place Objects:

• Translate()
• Scale()
• HalTranslate()
• HalRotate()
• Rotate()
• Track()
• CordsBase()
• Capture();

Example for object "ram":

ram = Translate([ram], 0,0,150)

Create Geometry

• TriangleXY()
• TriangleXZ()
• TriangleYZ()
• ArcX()

• Box()
• BoxCentred(x width,y width,z width); Box is centred on the origin
• BoxCentredXY(x width,y width,z width); Box is centred in x and y an is extruded from z = 0.
• CylinderX()
• CylinderY()
• CylinderZ()
• Sphere()
• AsciiSTL
• AsciiOBJ

• Collection(objects); sum up geometry objects for one axis of the machine. Example of Syntax:

table = Collection([

	crotary,    # relation to previous object
	Box(-150,-50, 81, 150, 50, 100),
	Box(-150,-40, 75, 150, 40, 81),
	])

further classes

• Color(); apply colour for the specified part
• Hud(); head up display
• 0

The use of the classes can be seen in the scaragui script located in /usr/bin. For first experiments one might just have a look at 5axisgui, where geometry ist generated with simple boxes.

Set up your own Simulation

1. Use a CAD and export .obj or .stl files for each axis consisting the geometry. The files can be produced using [FreeCAD]: Model the solid for each axis, create a mesh an [export] it as .obj or .stl.
2. Create a *gui file for your machine in /usr/bin. Have a look at the existing scripts like scaragui.
3. Read the geometry files with your script using the class AsciiOBJ or AsciiSTL
4. Connect the script to your machine

Screenshots

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vismach can be used to verify motions that don't show up in AXIS preview, such as custom kinematics or m-codes

this screenshot shows a "virtual rotary table" using the C-axis

Another example on what one can do with LinuxCNC (ex Enhanced Machine Controller) and Vismach help.