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Wang Dequan
2026-08-20 06:17:39 +08:00
commit 2c814634c3
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tests/motion-logger/basic/test.ini Normal file
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[EMC]
VERSION = 1.1
DEBUG = 0x0
[DISPLAY]
DISPLAY = ./test-ui.py
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
PARAMETER_FILE = sim.var
[EMCMOT]
#EMCMOT = motmod
COMM_TIMEOUT = 4.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[EMCIO]
TOOL_TABLE = simpockets.tbl
TOOL_CHANGE_QUILL_UP = 1
RANDOM_TOOLCHANGER = 0
[HAL]
HALFILE = mock-motion.hal
#POSTGUI_HALFILE = postgui.hal
[TRAJ]
NO_FORCE_HOMING = 1
COORDINATES = X Y Z A B C U V W
HOME = 0 0 0 0 0 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.2
MAX_LINEAR_VELOCITY = 4
[KINS]
KINEMATICS = trivkins
JOINTS = 9
[AXIS_X]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
[AXIS_Y]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
[AXIS_Z]
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010
[AXIS_A]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_3]
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
[AXIS_B]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_4]
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
[AXIS_C]
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_5]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010
[AXIS_U]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_6]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
[AXIS_V]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_7]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
FERROR = 0.050
MIN_FERROR = 0.010
[AXIS_W]
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
[JOINT_8]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010