<TR> <TD> <A HREF="gcode/m-code.html#sec:M68-Analog-Output">M68</A> <TD> T <TD> Analog Output Immediate </TR>

<TR> <TH COLSPAN=3>Non-modal Codes </TR>

<TR> <TD> <A HREF="gcode/m-code.html#sec:M6-Tool-Change">M6</A> <TD> T <TD> Change tool </TR>

<TR> <TD> <A HREF="gcode/gcode.html#sec:G4-Dwell">G4</A> <TD> P <TD> Dwell (seconds) </TR>

<TR> <TD> <A HREF="gcode/gcode.html#sec:G10-L1_">G10 L1</A> <TD> P Q R <em>axes</em> <TD> Tool offset, radius, orientation setting </TR>

<TR> <TD> <A HREF="gcode/gcode.html#sec:G10-L10">G10 L10</A> <TD> P <em>axes</em> <TD> Tool offset, setting calculated from workpiece</TR>

= Glossary

A listing of terms and what they mean. Some terms have a general

meaning and several additional meanings for users, installers, and

developers.

[[cha:integrator-concepts]] (((Integrator Concepts)))

== Stepper Systems

=== Base Period

[[cha:stepper-diagnostics]] (((Stepper Diagnostics)))

If what you get is not what you expect many times you just got some

experience. Learning from the experience increases your understanding

of the whole. Diagnosing problems is best done by divide and conquer.

[[cha:important-user-concepts]] (((User Concepts)))

////

////

This chapter covers important user concepts that should be understood

before attempting to run a CNC machine with g code.

[[cha:starting-linuxcnc]] (((Starting LinuxCNC)))

== Files

LinuxCNC is started with the script file emc.

[[cha:linuxcnc-user-introduction]] (((LinuxCNC User Introduction)))

== This Manual

The focus of this manual is on 'using' LinuxCNC. It is intended to be used

[[cha:user-foreword]] (((User Foreword)))

LinuxCNC is modular and flexible. These attributes lead many to see it as

a confusing jumble of little things and wonder why it is the way it is.

This page attempts to answer that question before you get into the

[[cha:core-components]] (((Core Components)))

See also the man pages 'motion(9)'.

== Motion [[sec:motion]]

[[cha:ini-configuration]] (((INI Configuration)))

== The INI File Components

A typical INI file follows a rather simple layout that includes;

[[cha:homing-configuration]] (((Homing Configuration)))

== Overview

Homing seems simple enough - just move each joint to a known location,

[[cha:lathe-configuration]] (((Lathe Configuration)))

== Default Plane

When LinuxCNC's interpreter was first written, it was designed for mills.

(((Point n Click Configuration Wizard)))

(((Mesa Configuration Wizard)))

PNCconf is made to help build configurations that utilize specific Mesa

'Anything I/O' products.

[[stepper-config]] (((Stepper Configuration)))

== Introduction[[sec:Introduction]]

The preferred way to set up a standard stepper machine is with the

[[cha:ax5214-driver]] (((AX5214H Driver)))

The Axiom Measurement & Control AX5214H is a 48 channel digital I/O

board. It plugs into an ISA bus, and resembles a pair of 8255 chips. In

fact it may be a pair of 8255 chips, but I'm not sure. If/when someone

[[cha:gs2-vfd-driver]] (((GS2 VFD Driver)))

This is a userspace HAL program for the GS2 series of VFD's at

Automation Direct.

[[cha:mesa-hostmot2-driver]] (((Mesa HostMot2 Driver)))

== Introduction

HostMot2 is an FPGA configuration developed by Mesa Electronics for

[[cha:montec-driver]] (((Motenc Driver)))

Vital Systems Motenc-100 and Motenc-LITE

The Vital Systems Motenc-100 and Motenc-LITE are 8- and 4-channel

[[cha:opto22-driver]] (((Opto22 Driver)))

PCI AC5 ADAPTER CARD / HAL DRIVER

== The Adapter Card

[[cha:pluto-p-driver]] (((Pluto P Driver)))

== General Info

The Pluto-P is a FPGA board featuring the

[[cha:servo-to-go-driver]] (((Servo To Go Driver)))

The Servo-To-Go (STG) is one of the first PC motion control cards supported

by LinuxCNC. It is an ISA card and it exists in different flavors (all

supported by this driver). The board includes up to 8 channels of

[[cha:shuttlexpress]] (((ShuttleXpress)))

== Description

shuttlexpress is a userspace HAL component that interfaces Contour Design’s ShuttleXpress device with LinuxCNC’s HAL. The ShuttleXpress has five momentary buttons, a 10 counts/revolution jog wheel with detents, and a 15-position spring-loaded outer wheel that returns to center when released.

= G Code Examples

After you install LinuxCNC several sample files are placed in the

/nc_files folder. Make sure the sample file is appropriate for your

machine before running.

[[cha:gs2-spindle]] (((GS2 Spindle)))

This example shows the connections needed to use an Automation Direct

GS2 VFD to drive a spindle. The spindle speed and direction is

controlled by LinuxCNC.

= MPG Pendant

This example is to explain how to hook up the common MPG pendants

found on the market today. This example uses an MPG3 pendant and a

C22 pendant interface card from CNC4PC connected to a second parallel

[[cha:pci-parallel-port]] (((PCI Parallel Port)))

When you add a second parallel port to your PCI bus you have to find

out the address before you can use it with LinuxCNC.

[[cha:Spindle-Control]] (((Spindle Control)))

== 0-10v Spindle Speed (((0-10v Spindle Speed)))

If your spindle speed is controlled by an analog signal,

[[cha:coordinate-system]] (((Coordinate System)))

== Introduction

You have seen how handy a tool length offset can be. Having this

[[cha:g-codes]] (((G Codes)))

== Conventions

Conventions used in this section

[[cha:m-codes]] (((M Codes)))

== M Code Quick Reference Table [[m-code-quick-reference]]

[width="60%", options="header", cols="2^,5<"]

|========================================

|========================================

when loading the motion controller. See the Integrator's Manual, Core

Components Section, Motion subsection, for more information.

== M100 to M199 User Defined Commands[[sec:M100-to-M199]]

(((M100 to M199 User Defined Commands)))(((User Defined Commands M100-M199)))

[[cha:cnc-machine-overview]] (((CNC Machine Overview)))

This section gives a brief description of how a CNC machine is viewed

from the input and output ends of the Interpreter.

(((G Codes)))

////

Just in case this document is not a product of google translate it remains.

If it is really translated delete gcode_es.txt then fix the links that will break

due to the link names being translated.

= Canned Cycle Examples[[cha:canned-cycle-examples]](((Canned Cycle Examples)))

== G80 Motion Stop

G80 turns off all motion. You should think of it as the off position on a rotary switch where the other positions are the different possible motion modes. In the EMC interpreter, G80 is one of the modal codes so any other code will replace it. The result of the following lines of code is the same.

[[cha:O-Codes]] (((O Codes)))

O-codes provide for flow control in NC programs. Each block has an

associated number, which is the number used after O. Care must be taken

to properly match the O-numbers. O codes use the letter 'O' not the

[[cha:other-codes]] (((Other Codes)))

== F: Set Feed Rate[[sec:F-feed-rate]]

(((F: Set Feed Rate)))

[[cha:g-code-overview]] (((G Code Overview)))

== Overview

The LinuxCNC G Code language is based on the RS274/NGC language. The G

[[cha:rs274ngc-programs]] (((RS274/NGC Programs)))

== Changes from RS274/NGC

.Differences that change the meaning of RS274/NGC programs

[[cha:tool-compensation]] (((Tool Compensation)))

== Tool Length Offsets

=== Touch Off(((Touch Off)))

[[cha:axis-gui]] (((Axis GUI)))

== Introduction

AXIS(((AXIS))) is a graphical front-end for LinuxCNC which features a live

[[cha:glade-vcp]] (((Glade Virtual Control Panel)))

// TODO:

// - manual-example.ui layout - really bad

// - restructure faq/troubleshooting/notes section

[[cha:hal-user-interface]] (((HAL User Interface)))

== Introduction[[sec:HaluiIntroduction]]

Halui is a HAL based user interface for LinuxCNC, it connects HAL pins to

[[cha:image-to-g-code]] (((Image to G Code)))

image::images/image-to-gcode.png[align="center"]

== What is a depth map?

[[cha:keystick-gui]] (((KEYSTICK)))

== Introduction

[[cha:mini-gui]] (((Mini GUI)))

== Introduction

.The Mini Graphical Interface (upon starting)[[fig:startmini]]

[[cha:ngcgui]] (((NGCGUI)))

image::images/ngcgui.png[]

== Overview

[[cha:tklinuxcnc-gui]] (((TkLinuxCNC GUI)))

== Introduction

TkLinuxCNC(((tkLinuxCNC))) is one of the first graphical front-ends

[cha:touchy-gui]] (((Touchy GUI)))

Touchy is a user interface for LinuxCNC meant for use on machine control panels,

and therefore does not require keyboard or mouse.

[[cha:basic-hal-tutorial]] (((Basic HAL Tutorial)))

== HAL Commands [[sec:Hal-Commands]]

More detailed information can be found in the man page for halcmd 'man

= Canonical Device Interfaces[[cha:Canonical-Device-Interfaces]]

.Note

*********************************************************************

By version 2.1, the HAL drivers should have all been updated to

[[cha:comp-hal-component-generator]] (((Comp HAL Component Generator)))

== Introduction

Writing a HAL component can be a tedious process, most of it in setup

[[cha:HAL-components]] (((HAL Components)))

== Commands and Userspace Components[[sec:Commands-and-Userspace-Components]]

All of the commands in the following list have man pages.

[[cha:general-reference]]

== General Naming Conventions[[sec:GR-Naming-Conventions]]

Consistent naming conventions would make HAL much easier to use. For

= HAL Examples

All of these examples assume you are starting with a stepconf based

configuration and have two threads base-thread and servo-thread. The

stepconf wizard will create an empty custom.hal and a

== Basic usage

A userspace component begins by creating its pins and parameters, then

enters a loop which will periodically drive all the outputs from the

inputs. The following component copies the value seen on its input pin

[[cha:halshow]] (((Halshow)))

The script halshow can help you find your way around a running HAL.

This is a very specialized system and it must connect to a working HAL.

It cannot run standalone because it relies on the ability of HAL to

[[cha:hal-tcl]] (((HAL TCL Files)))

The halcmd language excels in specifiying components and connections but

offers no computational capabilities. As a result, ini files are limited in

the clarity and brevity that is possible with higher level languages.

For any Halui examples to work you need to add the following line to the \[HAL\] section of the ini file.

+*HALUI = halui*+

== Remote Start

[[cha:hal-introduction]] (((HAL Introduction)))

HAL(((HAL))) stands for Hardware Abstraction Layer. At the highest

level, it is simply a way to allow a number of 'building blocks' to be

loaded and interconnected to assemble a complex system. The 'Hardware'

[[cha:Parport]] (((Parallel Port Driver)))

== Parport

Parport is a driver for the traditional PC parallel port. The port has

[[cha:pyvcp]] (((Python Virtual Control Panel)))

== Introduction

.Python Virtual Control Panel

== AXIS

To create a PyVCP panel to use with the AXIS interface that is

attached to the right of AXIS you need to do the following basic

things.

[[cha:realtime-components]] (((Realtime Components)))

== Stepgen[[sec:Stepgen]](((stepgen)))

This component provides software based generation of step pulses in

[[cha:hal-tools]] (((HAL Tools)))

== Halcmd[[sec:Halcmd]]

Halcmd is a command line tool for manipulating the HAL. There is a

[[cha:HAL-tutorial]] (((HAL Tutorial)))

== Introduction[[sec:Tutorial-Intro]]

Configuration moves from theory to device -- HAL device that is. For

[[cha:latency-test]] (((Latency Test)))

This test is the first test that should be performed on a PC

to see if it is able to drive a CNC machine.

[[cha:classicladder-programming]] (((Classicladder Programming)))

== Ladder Concepts

Classic Ladder is a type of programming language originally

[[cha:classicladder-examples]] (((Classicladder Examples)))

== Wrapping Counter

To have a counter that 'wraps around' you have to use the preset pin

[[cha:classicladder-introduction]] (((Classicladder Introduction)))

== History

Classic Ladder is a free implementation of a ladder interpreter,

[[cha:lathe-user-information]] (((Lathe User Information)))

This chapter attempts to bring together all the lathe specific

information and is currently under construction.

[[cha:kinematics]] (((Kinematics)))

== Introduction

When we talk about CNC machines, we usually think about machines that

== PID Controller

A proportional-integral-derivative controller (PID controller) is a

common feedback loop component in industrial control

systems.footnote:[This Subsection is taken from an much more extensive

[[cha:Stepper-Tuning]] (((Stepper Tuning)))

== Getting the most out of Software Stepping

Generating step pulses in software has one very big advantage - it's

[[cha:stepper-quickstart]] (((Stepper Quickstart)))

Esta sección asume que una instalación estándar a partir de un LiveCd

ha sido realizada. Posterior a la instalación es recomendable conectar

la computadora al internet y esperar por la aparición del manejador de