183 lines
5.7 KiB
INI
183 lines
5.7 KiB
INI
###############################################################################
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# General section
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###############################################################################
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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 = GM6-PCI-3-axis-stepper
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#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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DEBUG = 0
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###############################################################################
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# Sections for display options
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###############################################################################
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[DISPLAY]
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#+ Name of display program, e.g., axis
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DISPLAY = axis
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# DISPLAY = tklinuxcnc
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# DISPLAY = touchy
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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 = /home/gm/emc2/nc_files
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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 = 1
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###############################################################################
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# Task controller section
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###############################################################################
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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 = gm.var
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###############################################################################
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# Motion control section
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###############################################################################
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[EMCMOT]
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#- Name of the motion controller to use (only one exists for nontrivkins)
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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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#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
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SERVO_PERIOD = 1000000
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###############################################################################
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# Hardware Abstraction Layer section
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###############################################################################
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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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[HAL]
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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 = 3-axis-stepper.hal
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###############################################################################
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# Trajectory planner section
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###############################################################################
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[HALUI]
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#No Content
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[TRAJ]
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#+ machine specific settings
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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 = 0.424
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MAX_LINEAR_VELOCITY = 30.48
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DEFAULT_LINEAR_ACCELERATION = 300.0
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MAX_LINEAR_ACCELERATION = 500.0
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###############################################################################
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# Axes sections
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###############################################################################
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#+ First axis
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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 = -191.0
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MAX_LIMIT = 0.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 50.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = -50.000
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MAX_VELOCITY = 30.48
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STEPGEN_MAXVEL = 0.0
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MAX_ACCELERATION = 50.0
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STEPGEN_MAXACCEL = 0.0
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BACKLASH = 0.000
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SCALE = 1000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -191.0
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MAX_LIMIT = 0.0
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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 = 15.0
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HOME_LATCH_VEL = -2.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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#+ Second axis
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[AXIS_Y]
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MIN_LIMIT = -250.0
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MAX_LIMIT = 0.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 50.0
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[JOINT_1]
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TYPE = LINEAR
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HOME = -40.000
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MAX_VELOCITY = 30.48
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STEPGEN_MAXVEL = 0.0
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MAX_ACCELERATION = 50.0
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STEPGEN_MAXACCEL = 0.0
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BACKLASH = 0.000
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SCALE = -1000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -250.0
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MAX_LIMIT = 0.0
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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 = 15.0
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HOME_LATCH_VEL = -3.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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#+ Third axis
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[AXIS_Z]
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MIN_LIMIT = -985.0
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MAX_LIMIT = 0.00
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 50.0
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[JOINT_2]
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TYPE = LINEAR
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HOME = -30.0
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MAX_VELOCITY = 30.48
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STEPGEN_MAXVEL = 0.0
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MAX_ACCELERATION = 50.0
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STEPGEN_MAXACCEL = 0.0
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BACKLASH = 0.000
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SCALE = 100
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -985.0
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MAX_LIMIT = 0.00
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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 = 15.0
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HOME_LATCH_VEL = -3.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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###############################################################################
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# section for main IO controller parameters
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###############################################################################
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