213 lines
6.4 KiB
INI
213 lines
6.4 KiB
INI
# 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 = LinuxCNC-DALLUR-ADVANCED
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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# DEBUG = 0x00000001
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# DEBUG = 0x00000007
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# DEBUG = 0x7FFFFFFF
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DEBUG = 0
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# Enable Adaptive Feedrate for THC
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# Enable adaptive feed input, we use it for feedhold button and to
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# prevent motion during inverse-homing of torch and for pierce delay
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RS274NGC_STARTUP_CODE = M52 P1
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# Sections for display options ------------------------------------------------
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[DISPLAY]
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# Name of display program, e.g., xlinuxcnc
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# DISPLAY = axis
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# DISPLAY = xlinuxcnc
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DISPLAY = tklinuxcnc
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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 = tklinuxcnc.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 = 1.2
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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 = 2
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# Increments for the JOG section
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INCREMENTS = 1000 10 1 0.1 0.01
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# Task controller section -----------------------------------------------------
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[FILTER]
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#No Content
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = dallur-advanced.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 nanoseconds - this is the fastest thread in the machine
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#BASE_PERIOD = 10000
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#BASE_PERIOD = 14107
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#BASE_PERIOD = 11000
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#BASE_PERIOD = 15000
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BASE_PERIOD = 20000
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#BASE_PERIOD = 50000
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# Servo task period, in nanoseconds - 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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# Hardware Abstraction Layer section --------------------------------------------------
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[TASK]
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# Name of task controller program, e.g., milltask
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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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# HALUI to interact with NML
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# Run before any other HALFILE
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HALUI=halui
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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 = dallur-core_stepper.hal
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HALFILE = dallur-advanced.hal
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HALFILE = dallur-halvcp.hal
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#HALFILE = xylotex_pinout.hal
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# HALFILE = standard_pinout.hal
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# HALFILE = simulated_limits.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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# Trajectory planner section --------------------------------------------------
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[HALUI]
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#No Content
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[TRAJ]
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COORDINATES = X Y Z
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HOME = 0 0 0
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LINEAR_UNITS = mm
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 180.00
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MAX_LINEAR_VELOCITY = 260.00
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DEFAULT_LINEAR_ACCELERATION = 500.0
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MAX_LINEAR_ACCELERATION = 2400.0
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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 = dallur-advanced.tbl
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# section for external NML server parameters ----------------------------------
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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[AXIS_X]
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MIN_LIMIT = 0
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MAX_LIMIT = 2100
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MAX_VELOCITY = 220
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MAX_ACCELERATION = 2400
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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 = 220
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MAX_ACCELERATION = 2400
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STEPGEN_MAXACCEL = 2800
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BACKLASH = 0.000
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SCALE = 150.333
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = 0
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MAX_LIMIT = 2100
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FERROR = 1.270
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MIN_FERROR = 0.254
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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 = 0.0
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MAX_LIMIT = 6100
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MAX_VELOCITY = 240
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MAX_ACCELERATION = 2400
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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 = 240
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MAX_ACCELERATION = 2400
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STEPGEN_MAXACCEL = 2800
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BACKLASH = 0.000
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SCALE = 150.333
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = 0.0
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MAX_LIMIT = 6100
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FERROR = 0.127
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MIN_FERROR = 0.254
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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 = 0.0
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MAX_LIMIT = 4000.0
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MAX_VELOCITY = 20
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MAX_ACCELERATION = 250
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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 = 20
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MAX_ACCELERATION = 250
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STEPGEN_MAXACCEL = 300
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BACKLASH = 0.000
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SCALE = 150.333
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = 0.0
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MAX_LIMIT = 4000.0
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FERROR = 0.127
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#MIN_FERROR = 0.254
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MIN_FERROR = 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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# Settings for the Torch Height Control which does not use the stepgen but depends on a PID loop
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P = 2500
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I = 0.0
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D = 0.0
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BIAS = 0.0
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FF0 = 0.0
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FF1 = 0.0
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FF2 = 0.0
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DEADBAND= 0.000375
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# section for main IO controller parameters -----------------------------------
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[EMCSERVER]
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# Uncomment the following line if you need to run a remote GUI.
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# EMCSERVER = emcsvr
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