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. The .hal file of your machine loads this script with "loadusr" and connects the axis. 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. Define the axis (geometry, position, color, hal connection)
4. Connect the script to your machine in .hal file with "loadusr" and the needed connections.

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.