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Wang Dequan
262
configs/by_machine/cooltool/Uni-dreh-g.ini
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262
configs/by_machine/cooltool/Uni-dreh-g.ini
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# EMC controller parameters for generic controller. Make these what you need
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# for your system.
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# General note: Comments can either be preceded with a # or ; - either is
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# acceptable, although # is in keeping with most linux config files.
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# General section -------------------------------------------------------------
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[EMC]
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# Version of this INI file
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VERSION = 1.1
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# Name of machine, for use with display, etc.
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MACHINE = UNI-DREH-G
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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# DEBUG = 0x00000003
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# DEBUG = 0x00000007
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# DEBUG = 0x7FFFFFFF
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DEBUG = 0
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# Sections for display options ------------------------------------------------
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[DISPLAY]
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LATHE = 1
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#DISPLAY = tklinuxcnc
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DISPLAY = axis
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#EDITOR = geany
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.200
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# Path to help file
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HELP_FILE = doc/help.txt
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# Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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# Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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# Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 2.0
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# Prefix to be used
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PROGRAM_PREFIX = ../../nc_files/
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# Introductory graphic
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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# Task controller section -----------------------------------------------------
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[FILTER]
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PROGRAM_EXTENSION = .py Python Script
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py = python3
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# Trajectory planner section --------------------------------------------------
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = stepper.var
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# Motion control section ------------------------------------------------------
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[EMCMOT]
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EMCMOT = motmod
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# Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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# Base task period, in seconds - this is the fastest thread in the machine
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BASE_PERIOD = 50000
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# Servo task period, in seconds - will be rounded to an integer multiple
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# of BASE_PERIOD
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SERVO_PERIOD = 1000000
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# Trajectory Planner task period, in seconds - will be rounded to an
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# integer multiple of SERVO_PERIOD
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TRAJ_PERIOD = 10000000
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# Hardware Abstraction Layer section --------------------------------------------------
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[TASK]
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# Name of task controller program, e.g., bridgeporttask
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TASK = milltask
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# Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.010
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# Part program interpreter section --------------------------------------------
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[HAL]
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# The run script first uses halcmd to execute any HALFILE
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# files, and then to execute any individual HALCMD commands.
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#
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# list of hal config files to run through halcmd
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# files are executed in the order in which they appear
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HALFILE = uni-dreh-g_stepper.hal
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HALFILE = uni-dreh-g_pinout.hal
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# list of halcmd commands to execute
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# commands are executed in the order in which they appear
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#HALCMD = save neta
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# Section Filter
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[HALUI]
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#No Content
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[TRAJ]
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COORDINATES = X Z C
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HOME = 0 0 0 0 0 0
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LINEAR_UNITS = mm
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 2
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MAX_LINEAR_VELOCITY = 50
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DEFAULT_LINEAR_ACCELERATION = 20.0
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MAX_LINEAR_ACCELERATION = 20.0
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# Axes sections ---------------------------------------------------------------
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# First axis
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[EMCIO]
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# tool table file
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TOOL_TABLE = stepper.tbl
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 6
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[AXIS_X]
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MIN_LIMIT = -50.0
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MAX_LIMIT = 50.0
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 20.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 20.0
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STEPGEN_MAXVEL = 6
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STEPGEN_MAXACCEL = 22
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BACKLASH = 0.000
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INPUT_SCALE = -800
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MIN_LIMIT = -50.0
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MAX_LIMIT = 50.0
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FERROR = 0.500
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MIN_FERROR = 0.500
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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# Second axis
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[AXIS_Y]
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MIN_LIMIT = -32.0
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MAX_LIMIT = 32.0
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 20.0
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 20.0
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STEPGEN_MAXVEL = 6
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STEPGEN_MAXACCEL = 22
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BACKLASH = 0.000
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INPUT_SCALE = -800
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MIN_LIMIT = -32.0
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MAX_LIMIT = 32.0
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FERROR = 0.500
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MIN_FERROR = 0.500
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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# Third axis
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[AXIS_Z]
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MIN_LIMIT = -145.0
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MAX_LIMIT = 145.0
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 20.0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 20.0
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STEPGEN_MAXVEL = 6
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STEPGEN_MAXACCEL = 22
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BACKLASH = 0.000
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INPUT_SCALE = -800
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MIN_LIMIT = -145.0
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MAX_LIMIT = 145.0
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FERROR = 0.500
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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# Four axis
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[AXIS_A]
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MIN_LIMIT = -10000
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MAX_LIMIT = 10000
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MAX_VELOCITY = 50
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MAX_ACCELERATION = 20.0
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[JOINT_3]
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TYPE = ANGULAR
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HOME = 0.0
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MAX_VELOCITY = 50
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MAX_ACCELERATION = 20.0
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STEPGEN_MAXVEL = 52
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STEPGEN_MAXACCEL = 22
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BACKLASH = 0.000
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INPUT_SCALE = -8.88888888888
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MIN_LIMIT = -10000
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MAX_LIMIT = 10000
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FERROR = 0.500
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MIN_FERROR = 0.500
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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# Five axis
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[AXIS_B]
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MIN_LIMIT = -10000
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MAX_LIMIT = 10000
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MAX_VELOCITY = 50
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MAX_ACCELERATION = 20.0
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[JOINT_4]
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TYPE = ANGULAR
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HOME = 0.0
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MAX_VELOCITY = 50
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MAX_ACCELERATION = 20.0
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STEPGEN_MAXVEL = 52
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STEPGEN_MAXACCEL = 22
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BACKLASH = 0.000
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INPUT_SCALE = -8.88888888888
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MIN_LIMIT = -10000
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MAX_LIMIT = 10000
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FERROR = 0.500
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MIN_FERROR = 0.500
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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# Six axis
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[AXIS_C]
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MIN_LIMIT = -1000000
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MAX_LIMIT = 1000000
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MAX_VELOCITY = 50
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MAX_ACCELERATION = 20.0
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[JOINT_5]
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TYPE = ANGULAR
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HOME = 0.0
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MAX_VELOCITY = 50
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MAX_ACCELERATION = 20.0
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STEPGEN_MAXVEL = 52
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STEPGEN_MAXACCEL = 22
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BACKLASH = 0.000
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INPUT_SCALE = -8.88888888888
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MIN_LIMIT = -1000000
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MAX_LIMIT = 1000000
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FERROR = 0.500
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MIN_FERROR = 0.500
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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# section for main IO controller parameters -----------------------------------
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