开源数控用户手册.doc
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1、开源数控EMC2用户手册第 1 章 前言 ForewordEMC2 is modular and flexible. These attributes lead many to see it as a confusing jumble of littlethings and wonder why it is the way it is. This page attempts to answer that question before youget into the thick of things. EMC2是模块化设计的,柔性很强。很多人都觉得它是由一些令人迷惑的小东西堆叠而成,很奇怪它是如
2、何做到的。那么在进入实质内容以前,让我们一方面试图回答这个问题。EMC started at the National Institute of Standards and Technology in the USA. It grew up usingUnix as its operating system. Unix made it different. Among early Unix developers there grew a setof code writing ideas that some call the Unix way. These early EMC authors f
3、ollowed those ways. EMC项目起源于NIST(美国国家标准与技术研究院)。它起初是在Unix操作系统下运营的,这使它与众不同。初期Unix开发者规定了一些代码编写的原则或方法,称为Unix编程方法(Unix way),EMC项目的作者们遵循了这些方法。Eric S. Raymond, in his book The Art of Unix Programming, summarizes the Unix philosophyas the widely-used engineering philosophy, Keep it Simple, Stupid (KISS Prin
4、ciple).He then describes how he believes this overall philosophy is applied as a cultural Unixnorm, although unsurprisingly it is not difficult to find severe violations of most of thefollowing in actual Unix practice:* Rule of Modularity: Write simple parts connected by clean interfaces.* Rule of C
5、larity: Clarity is better than cleverness.* Rule of Composition: Design programs to be connected to other programs.* Rule of Separation: Separate policy from mechanism; separate interfaces from engines. Eric S. Raymond在他的著作The Art of Unix Programming中把Unix的哲学上升为普遍合用的工程哲学,即“KISS原则”(Keep it Simple, St
6、upid)(保持简朴化、傻瓜化)。然后他描述了这个KISS原则和Unix规范之间的文化纽带,尽管他也明明知道在Unix的编程实践中找到违反这些规则的例子代码也是不困难和不令人惊奇的。 模块化原则:写出具有清楚接口的简朴模块。 简洁性原则:简洁比聪明更重要。 组合性原则:设计程序是为了和其它程序对接。 分离性原则:把策略从机制中分离出来,把接口从上分离出来。(译者注:这句太难懂了,个人理解:从面向对象的角度说,就是把解决问题的方法和问题自身分离,也就是方法和数据分离;然后把接口从方法中分离出来。)Mr Raymond offered several more rules but these fo
7、ur describe essential characteristics of the EMC2motion control system. Raymond先生还提出了一些其它的原则,但这四个原则就是EMC2运动控制系统最重要的特性。The Modularity rule is critical. Throughout these handbooks you will find talk of the interpreter ortask planner or motion or HAL. Each of these is a module or collection of modules.
8、 Its modularitythat allows you to connect together just the parts you need to run your machine. 模块化原则是最关键的原则。纵观EMC2系列手册,你会发现无论是G代码解释器、任务规划器、运动控制器,还是硬件抽象层(HAL),它们都是模块或模块的集合。模块化使你能把需要的功能集成起来构成一个系统,而不需要的部分则可以去掉。The Clarity rule is essential. EMC2 is a work in progress it is not finished nor will it eve
9、r be. It iscomplete enough to run most of the machines we want it to run. Much of that progress is achievedbecause many users and code developers are able to look at the work of others and build on whatthey have done. 简洁性原则是最重要的原则。EMC2项目已经可以在很多机器系统上运营,但它仍然是一个正在进行的项目,它永远也不会停止。EMC2的成功归功于许多用户以及代码开发人员。由
10、于遵守了简洁性编程的原则,人们才可以互相看到彼此的工作,并很容易的理解代码以及为其添加新的内容。The Composition rule allows us to build a predictable control system from the many modulesavailable by making them connectable. We achieve connectability by setting up standard interfacesto sets of modules and following those standards. 组合性原则促使开发人员为模块提
11、供可连接性,这样使用人员就可以从许多模块中只选择他们需要的模块来构成目的系统。EMC2的组合性是通过标准的接口以及符合该接口标准的模块实现的。The Separation rule requires that we make distinct parts that do little things. By separating functionsdebugging is much easier and replacement modules can be dropped into the system andcomparisons easily made. 分离性原则规定开发人员尽量分解系统功
12、能,并用不同的部件实现它们。这么做的好处一是便于调试,二是可以方便的比较同一功能的不同实现(由于它们有相同的接口,可以很容易的组合进系统中进行测试)。What does the Unix way mean for you as a user of EMC2. It means that you are able to make choicesabout how you will use the system. Many of these choices are a part of machine integration, but manyalso affect the way you will
13、 use your machine. As you read you will find many places whereyou will need to make comparisons. Eventually you will make choices, Ill use this interface ratherthan that” or, “Ill write part offsets this way rather than that way. Throughout these handbookswe describe the range of abilities currently
14、 available. 那么Unix规范对于使用者又意味着什么呢?它意味着你可以选择如何配置EMC2系统的功能以适应你的数控系统,也就是说配置EMC2系统是设计数控机床工作的一部分。同时EMC2的某些功能或配置又反过来影响你设计数控机床的方法和过程。在阅读系列手册的过程中,你会一边看一边比较,最后你也许说:“我将使用这个接口而不使用那个接口”,或者“我将这样使用部件偏移而不会那样使用”。继续看下去吧,在系列手册中,我们将讨论所有这些功能和配置。As you begin your journey into using EMC2 we offer two cautionary notes:2Pra
15、phrasing the words of Doug Gwyn on UNIX: emc2 was not designed to stop its users fromdoing stupid things, as that would also stop them from doing clever things.Likewise the words of Steven King: emc2 is user-friendly. It just isnt promiscuous aboutwhich users its friendly with. 在你继续阅读之前,我们提供两条注意事项:E
16、MC2不会防止它的使用者干傻事,由于那会同样防止它的使用者干聪明的事。EMC2肯定是用户和谐的,只但是它在对哪个用户和谐的问题上,用情比较专一而已。第 2 章 EMC2 The Enhanced Machine Control 2.1 关于本手册The focus of this manual is on using EMC. It is intended to be used once EMC is installed andconfigured. For standard installations see the Getting Started Guide for step by ste
17、p instructionsto get you up and going. For detailed information on installation and configuration of EMC see theIntegrator Manual. 本手册的焦点是如何使用EMC2 。当EMC2安装并配置完毕后应当阅读本手册。关于简易安装EMC2的问题,请参见入门手册“Getting Started Guide”。关于安装和配置的具体信息,请参见综合手册“Integrator Manual”。 2.2 EMC2如何工作The Enhanced Machine Controller (
18、EMC2) is a lot more than just another CNC mill program. Itcan control machine tools, robots, or other automated devices. It can control servo motors, steppermotors, relays, and other devices related to machine tools.There are four main components to the EMC2 software: a motion controller, a discrete
19、 I/O controller,a task executor which coordinates them, and graphical user interfaces. In addition there isa layer called HAL (Hardware Abstraction Layer) which allows configuration of EMC2 without theneed of recompiling. 可不敢把EMC2想象成此外一个CNC数控加工程序,它能做的可多了。它可以控制机床、机器人、自动化设备,还能控制伺服电机、步进电机、继电器以及其它机床电器。
20、EMC2由四个重要部分:运动控制器、离散IO控制器、任务执行器(用来协调这四个部件)、图形用户界面。此外尚有一个硬件抽象层HAL(Hardware Abstraction Layer),有了HAL,无需重新编译EMC2,就可以按照实际需要配置EMC2的硬件。Figure 2.1 shows a simple block diagram showing what a typical 3-axis EMC2 system might looklike. This diagram shows a stepper motor system. The PC, running Linux as its o
21、perating system,is actually controlling the stepper motor drives by sending signals through the printer port. Thesesignals (pulses) make the stepper drives move the stepper motors. The EMC2 can also run servomotors via servo interface cards or by using an extended parallel port to connect with exter
22、nalcontrol boards. As we examine each of the components that make up an EMC2 system we willremind the reader of this typical machine. 图2.1(参见英文原版图片)的方框图展示了一个典型的3轴数控系统看起来的样子。这是一个步进电机系统。PC机上运营着Linux操作系统和EMC2程序,控制信号则从打印口(并口)传送到电机驱动器上,电机驱动器根据控制信号驱动步进电机(当然EMC2也可以通过伺服接口卡或使用与扩展并口相连的外部控制卡来控制伺服电机)。我们接下来会介绍EM
23、C2系统的每一个组成部分,在介绍的过程中也许会反复提到这幅图片。 2.3 用户接口A user interface is the part of the EMC2 that the machine tool operator interacts with. The EMC2comes with several types of user interfaces:AXIS an OpenGL-based GUI (Graphical User Interface), with an interactive G-Code previewer.This interface is one of the
24、few that are still under active development and improvement.Keystick a character-based screen graphics program suitable for minimal installations (withoutthe X server running).Xemc an X Windows programtwo Tcl/Tk-based GUIs named TkEMC and Minia HAL based user interface called halui, which allows to
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