解释器的错误单位处理 #1279

姜戈莱因哈德

（独立）解释器的错误单元处理

以下是我重现该问题所遵循的步骤：

github master 的 rip 安装
使用此工具表：
- T2 P1 Z20 D2 ;2.00mm 4 schneiden fräser
- T3 P2 Z53 D3 ;3.00mm 2 刃立铣刀
- T6 P3 Z30 D6 ;6.00mm 4 schneiden fräser
- T4 P5 Z40 D8 ;8,00mm 4 schneiden fräser
- T23 P7 Z50 D10 ;10,00mm 4 schneiden fräser
- T7 P8 Z50 D12 ;12,00mm 4 schneiden fräser
- T1 P9 Z123 D4.568 ;45 度 V 刀
这个命令行：

cat gmoccapy_2_tools_with_cutter_radius_compensation.ngc  | rs274 -g -v linuxcnc.var -i some.ini -t tool.tbl

我得到了这些结果：

executing
    1 N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
    2 N..... SET_G5X_OFFSET(1, 8165.0024, 12700.0000, -5080.0000, 0.0000, 0.0000, 0.0000)
    3 N..... SET_G92_OFFSET(3004.1677, 209.2678, 78.7400, 0.0000, 0.0000, 0.0000)
    4 N..... SET_XY_ROTATION(0.0000)
    5 N..... SET_FEED_REFERENCE(CANON_XYZ)
READ => ; Gmoccapy_2_tools_with_compensation.ngc
READ => ; testprogram to mill two circles with cutter radius compensation
READ => ; and two different tools
READ =>
READ => ; set the basic settings, this should be
READ => ; on every program the beginning
READ => G17
    6 N..... SELECT_PLANE(CANON_PLANE_XY)
READ => G21
    7 N..... USE_LENGTH_UNITS(CANON_UNITS_MM)
READ => G54
    8 N..... COMMENT("interpreter: continuing to use same coordinate system")
READ => G61
    9 N..... SET_MOTION_CONTROL_MODE(CANON_EXACT_PATH)
READ => G40
   10 N..... COMMENT("interpreter: cutter radius compensation off")
READ => G49
   11 N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
READ => G80
   12 N..... COMMENT("interpreter: motion mode set to none")
READ => G90
READ =>
READ => ; get the first tool
READ => T3 M6
   13 N..... SELECT_TOOL(3)
   14 N..... START_CHANGE()
   15 N..... STOP_SPINDLE_TURNING(0)
   16 N..... COMMENT("AXIS,hide")
   17 N..... STRAIGHT_TRAVERSE(-11169.1702, -12909.2678, 5001.2600, 0.0000, 0.0000, 0.0000)
   18 N..... COMMENT("AXIS,show")
   19 N..... CHANGE_TOOL(2)
READ => G43
   20 N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 1346.2000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
READ => T1
   21 N..... SELECT_TOOL(1)
READ =>
READ => ; go to center of the workpiece
READ => G0 X50 Y50
   22 N..... STRAIGHT_TRAVERSE(50.0000, 50.0000, 3655.0600, 0.0000, 0.0000, 0.0000)
READ => G0 Z30
   23 N..... STRAIGHT_TRAVERSE(50.0000, 50.0000, 30.0000, 0.0000, 0.0000, 0.0000)
READ =>
READ => ; turn on spindle clockwise
READ => S3000
   24 N..... SET_SPINDLE_SPEED(0, 3000.0000)
READ => M3
   25 N..... START_SPINDLE_CLOCKWISE(0)
READ =>
READ => ; coolant on
READ => M8
   26 N..... FLOOD_ON()
READ =>
READ => G0 Z10
   27 N..... STRAIGHT_TRAVERSE(50.0000, 50.0000, 10.0000, 0.0000, 0.0000, 0.0000)
READ => F250
   28 N..... SET_FEED_RATE(250.0000)
READ => G1 Z0
   29 N..... STRAIGHT_FEED(50.0000, 50.0000, 0.0000, 0.0000, 0.0000, 0.0000)
READ =>
READ => ; tool radius compensation
READ => ; go in circle with lower feed rate
READ => G41
   30 N..... COMMENT("interpreter: cutter radius compensation on left")
READ => G3 X70 Y50 Z-1 I10 J0
Radius of cutter compensation entry arc is not greater than the tool radius
G3 X70 Y50 Z-1 I10 J0
READ =>
READ => ; make first circle with normal feed
READ => F2000
   31 N..... SET_FEED_RATE(2000.0000)
READ => G3 I -20
Radius of cutter compensation entry arc is not greater than the tool radius
G3 I -20
READ =>
READ => ; out of the workpiece
READ => G3 X50 Y50 Z1 I-10 J0
Radius of cutter compensation entry arc is not greater than the tool radius
G3 X50 Y50 Z1 I-10 J0
READ => G0 Z30
Length of cutter compensation entry move is not greater than the tool radius
G0 Z30
READ =>
READ => ; coolant off
READ => M9
   32 N..... MIST_OFF()
   33 N..... FLOOD_OFF()
READ =>
READ => ; turn off cutter radius compensation, otherwise no tool change is possible
READ => G40
   34 N..... COMMENT("interpreter: cutter radius compensation off")
READ => M6
   35 N..... START_CHANGE()
   36 N..... STOP_SPINDLE_TURNING(0)
   37 N..... COMMENT("AXIS,hide")
   38 N..... STRAIGHT_TRAVERSE(50.0000, 50.0000, 3655.0600, 0.0000, 0.0000, 0.0000)
   39 N..... COMMENT("AXIS,show")
   40 N..... CHANGE_TOOL(7)
READ => G43
   41 N..... USE_TOOL_LENGTH_OFFSET(0.0000 0.0000 3124.2000, 0.0000 0.0000 0.0000, 0.0000 0.0000 0.0000)
READ =>
READ => ; optional stop for testing
READ => (MSG, optional stop, i.e. for cleaning the workpiece, or other thinks)
   42 N..... MESSAGE(" optional stop, i.e. for cleaning the workpiece, or other thinks")
READ => M1
   43 N..... OPTIONAL_PROGRAM_STOP()
READ =>
READ => ; go again to the center of the workpiece
READ => G0 X50 Y50
   44 N..... STRAIGHT_TRAVERSE(50.0000, 50.0000, 1877.0600, 0.0000, 0.0000, 0.0000)
READ => G0 Z10
   45 N..... STRAIGHT_TRAVERSE(50.0000, 50.0000, 10.0000, 0.0000, 0.0000, 0.0000)
READ =>
READ => ; turn on spindle clockwise
READ => S6000
   46 N..... SET_SPINDLE_SPEED(0, 6000.0000)
READ => M3
   47 N..... START_SPINDLE_CLOCKWISE(0)
READ =>
READ => ; mist on
READ => M7
   48 N..... MIST_ON()
READ =>
READ => G0 Z10
   49 N..... STRAIGHT_TRAVERSE(50.0000, 50.0000, 10.0000, 0.0000, 0.0000, 0.0000)
READ => F400
   50 N..... SET_FEED_RATE(400.0000)
READ => G1 Z1
   51 N..... STRAIGHT_FEED(50.0000, 50.0000, 1.0000, 0.0000, 0.0000, 0.0000)
READ =>
READ => ; Werkzeugradienkompensation ein
READ => ; Anfahrradius mit Eintauchgeschwindigkeit
READ => G41
   52 N..... COMMENT("interpreter: cutter radius compensation on left")
READ => G3 X65 Y50 Z-1 I7.5 J0
Radius of cutter compensation entry arc is not greater than the tool radius
G3 X65 Y50 Z-1 I7.5 J0
READ =>
READ => ; 2. Kreis mit Vorschubgeschwindigkeit fräsen
READ => F1000
   53 N..... SET_FEED_RATE(1000.0000)
READ => G3 I-15
Radius of cutter compensation entry arc is not greater than the tool radius
G3 I-15
READ =>
READ => ; Aus dem Werkstück
READ => G3 X50 Y50 Z1 I-7.5 J0
Radius of cutter compensation entry arc is not greater than the tool radius
G3 X50 Y50 Z1 I-7.5 J0
READ => G0 Z30
Length of cutter compensation entry move is not greater than the tool radius
G0 Z30
READ =>
READ => G0 Z30
Length of cutter compensation entry move is not greater than the tool radius
G0 Z30
READ => G0 X50 Y50
Length of cutter compensation entry move is not greater than the tool radius
G0 X50 Y50
READ =>
READ => M9 ; coolant off
   54 N..... MIST_OFF()
   55 N..... FLOOD_OFF()
READ => M5 ; spindle off
   56 N..... STOP_SPINDLE_TURNING(0)
READ => M2 ; program end
   57 N..... SET_G5X_OFFSET(1, 8165.0024, 12700.0000, -5080.0000, 0.0000, 0.0000, 0.0000)
   58 N..... SET_XY_ROTATION(0.0000)
   59 N..... SET_FEED_MODE(0, 0)
   60 N..... SET_FEED_RATE(0.0000)
   61 N..... STOP_SPINDLE_TURNING(0)
   62 N..... SET_SPINDLE_MODE(0 0.0000)
   63 N..... PROGRAM_END()
READ =>    64 N..... ON_RESET()

这是我期望发生的事情：

在使用工具#3处理 G43 时，我预计工具长度为 53 毫米，但解释器计算出 1346.2 毫米 – 这是来自工具表的长度值，被视为英制单位并将其转换为毫米。所有圆弧/圆都因刀具半径大而出错

后端初始化使用 mm 设置，并且已明确使用 G21 – 所以我看不出为什么 mm 机器的工具表条目应被视为英制值。

有关我的硬件和软件的信息：

我正在使用 debian stable (bullseye)
我正在使用这个内核版本 5.10.0-8-amd64
我在跑步 …
- rip安装来自linuxcnc github master自编译

安迪普

我相信工具表被假定为配置的基本单位。

您使用的是公制配置吗？

姜戈莱因哈德

来自 ini 文件：

[TRAJ]
LINEAR_UNITS = mm
ANGULAR_UNITS = degree

安迪普

有那个理论。
我运行公制机器，并没有看到这个问题。
如果您使用 Axis 接口，这也是一个问题吗？我似乎记得 Gmoccapy 比其他 GUI 做了更多的内部工具处理。

再生开发

他没有使用任何 UI，直接运行 rs274。这看起来像一个错误。工具表应始终以机器单位解释。

安迪普

在那种情况下，我怀疑 sai 实际上并没有在 .ini 中寻找单位。我没有在 saicannon.cc 中看到任何搜索 TRAJ 的证据，我确实看到了一个硬编码函数：
https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/sai/saicanon。抄送#L720

姜戈莱因哈德

安迪你是对的！
硬编码功能是邪恶的。
我试图用“_sai._length_unit_factor”更改硬编码数字，它似乎有效。

安迪普

安迪你是对的！硬编码功能是邪恶的。我试图用“_sai._length_unit_factor”更改硬编码数字，它似乎有效。

但我怀疑变量反映了 G20 / G21 状态，而不是机器基础单位。
在检查是否指定了 INI 之后，该函数可能应该查看 INI。

解释器的错误单位处理#1279

注释

（独立）解释器的错误单元处理

以下是我重现该问题所遵循的步骤：

这是我期望发生的事情：

有关我的硬件和软件的信息：