Vismach

Vismach is a simulator to show 3D previews of a physical machine. The function an screenshots are presented below, for a tutorial, look at the bottom of the page.

Vismach.py is a python library to draw objects in a simulation window. It is located in /usr/share/pyshare (can't find it on git - was it removed?). The simultion itself is a script, based on vismach.py. The scripts are located in /usr/bin (Hal components). The .hal file of your machine in your /home/user/linuxcnc/config/yourmachine loads this script with "loadusr" al a HAL component and connects the axis. Following important things are described in the script:

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

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. For first experiments one might just have a look at 5axisgui, where geometry is generated with simple boxes. Scaragui shows how to load .obj files. A short summary of the classes follows:

Transform/place Objects:

• Translate()
• Scale()
• 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),
	])

Define joints as rotating/translating axis

• HalTranslate()
• HalRotate()

further classes

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

Screenshots

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.

Set up your own Simulation

=== get familiar with HAL===

The Simulator is loaded as Hal Component. Open a terminal and type:

halrun

Then you will get the command line for HAL. Type:

loadusr 5axisgui

A Window with the 5 axis simulation should appear (it is not connectetd to a controller, so you can't do anything with it now, than view it). Close the Window an Terminal. Now go to your /home/usr/linuxcnc/config/your_machine folder and edit the .hal file. Add at the bottom the line:

loadusr -W 5axisgui

The -W option tells Axis to wait for the simulator. Then start your machine configuration. This time the 5axisgui window will appear with ist (again it is not connectetd to a controller, so you can't do anything with it now, than view it)

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 and [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.