183 lines
4.8 KiB
INI
183 lines
4.8 KiB
INI
[APPLICATIONS]
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# uncomment to enable:
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#APP = halshow --fformat %.5f switchkins.halshow
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[EMC]
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VERSION = 1.1
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MACHINE = sim-xyzac-trt-kins (switchkins)
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[DISPLAY]
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GEOMETRY = XYZ-A
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OPEN_FILE = ./demos/xyzac_switchkins.ngc
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PYVCP = ./xyzac-trt.xml
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JOG_AXES = XYZC
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DISPLAY = axis
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MAX_ANGULAR_VELOCITY = 360
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MAX_LINEAR_VELOCITY = 1000
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 2
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PROGRAM_PREFIX = ../../nc_files
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INTRO_GRAPHIC = emc2.gif
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INTRO_TIME = 1
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#EDITOR = geany
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TOOL_EDITOR = tooledit z diam
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TKPKG = Ngcgui 1.0
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NGCGUI_FONT = Helvetica -12 normal
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NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc
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NGCGUI_SUBFILE = centering.ngc
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[RS274NGC]
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SUBROUTINE_PATH = ./remap_subs
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HAL_PIN_VARS = 1
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REMAP = M428 modalgroup=10 ngc=428remap
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REMAP = M429 modalgroup=10 ngc=429remap
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REMAP = M430 modalgroup=10 ngc=430remap
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PARAMETER_FILE = xyzac.var
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[KINS]
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#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
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# default switchkins-type == 0 is xyzac-trt-kins
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# here switchkins-type == 0 is identity kins
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KINEMATICS = xyzac-trt-kins sparm=identityfirst
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JOINTS = 5
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[HAL]
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HALUI = halui
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HALFILE = LIB:basic_sim.tcl
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POSTGUI_HALFILE = switchkins_postgui.hal
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# net for control of motion.switchkins-type
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HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
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# vismach xyzac-trt-gui items
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HALCMD = loadusr -W xyzac-trt-gui
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HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x
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HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y
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HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z
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HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a
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HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c
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HALCMD = net :tool-offset motion.tooloffset.z
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HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
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HALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset
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HALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset
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HALCMD = sets :y-offset 20
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HALCMD = sets :z-offset 10
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# not currently supported by xyzac-trt-gui:
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HALCMD = setp xyzac-trt-kins.x-rot-point 0
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HALCMD = setp xyzac-trt-kins.y-rot-point 0
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HALCMD = setp xyzac-trt-kins.z-rot-point 0
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HALCMD = setp xyzac-trt-kins.conventional-directions 0
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[HALUI]
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# NOTE: kinstype==0 is identity kins because sparm=identityfirst
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# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
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# M428:xyzac kins (motion.switchkins-type==1)
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# M430:userk kins (motion.switchkins-type==2)
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MDI_COMMAND = M429
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MDI_COMMAND = M428
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MDI_COMMAND = M430
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[TRAJ]
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COORDINATES = XYZAC
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LINEAR_UNITS = mm
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ANGULAR_UNITS = deg
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DEFAULT_LINEAR_VELOCITY = 20
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MAX_LINEAR_VELOCITY = 35
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MAX_LINEAR_ACCELERATION = 400
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DEFAULT_LINEAR_ACCELERATION = 300
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[EMCMOT]
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EMCMOT = motmod
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SERVO_PERIOD = 1000000
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COMM_TIMEOUT = 1
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.010
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[EMCIO]
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TOOL_TABLE = xyzac-trt.tbl
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[AXIS_X]
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MIN_LIMIT = -200
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MAX_LIMIT = 200
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MAX_VELOCITY = 20
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MAX_ACCELERATION = 300
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[AXIS_Y]
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MIN_LIMIT = -100
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MAX_LIMIT = 100
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MAX_VELOCITY = 20
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MAX_ACCELERATION = 300
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[AXIS_Z]
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MIN_LIMIT = -120
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MAX_LIMIT = 120
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MAX_VELOCITY = 20
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MAX_ACCELERATION = 300
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[AXIS_A]
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MIN_LIMIT = -100
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MAX_LIMIT = 50
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MAX_VELOCITY = 30
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MAX_ACCELERATION = 300
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[AXIS_C]
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MIN_LIMIT = -36000
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MAX_LIMIT = 36000
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MAX_VELOCITY = 30
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MAX_ACCELERATION = 300
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0
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MAX_VELOCITY = 20
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MAX_ACCELERATION = 300
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MIN_LIMIT = -200
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MAX_LIMIT = 200
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 0
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0
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MAX_VELOCITY = 20
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MAX_ACCELERATION = 300
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MIN_LIMIT = -100
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MAX_LIMIT = 100
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0
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MAX_VELOCITY = 20
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MAX_ACCELERATION = 300
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MIN_LIMIT = -120
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MAX_LIMIT = 120
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 0
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[JOINT_3]
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TYPE = ANGULAR
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HOME = 0
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MAX_VELOCITY = 30
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MAX_ACCELERATION = 300
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MIN_LIMIT = -100
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MAX_LIMIT = 50
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 0
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[JOINT_4]
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TYPE = ANGULAR
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HOME = 0
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MAX_VELOCITY = 30
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MAX_ACCELERATION = 300
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MIN_LIMIT = -36000
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MAX_LIMIT = 36000
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 0
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