210 lines
6.3 KiB
INI
210 lines
6.3 KiB
INI
# EMC controller parameters for generic controller. Make these what you need
|
|
# for your system.
|
|
# General note: Comments can either be preceded with a # or ; - either is
|
|
# acceptable, although # is in keeping with most linux config files.
|
|
# General section -------------------------------------------------------------
|
|
|
|
[EMC]
|
|
# Version of this INI file
|
|
VERSION = 1.1
|
|
# Name of machine, for use with display, etc.
|
|
MACHINE = UniMillCNC
|
|
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
|
# DEBUG = 0x00000003
|
|
# DEBUG = 0x00000007
|
|
# DEBUG = 0x7FFFFFFF
|
|
DEBUG = 0
|
|
# Sections for display options ------------------------------------------------
|
|
|
|
[DISPLAY]
|
|
#DISPLAY = tklinuxcnc
|
|
DISPLAY = axis
|
|
#EDITOR = geany
|
|
# Cycle time, in seconds, that display will sleep between polls
|
|
CYCLE_TIME = 0.200
|
|
# Path to help file
|
|
HELP_FILE = doc/help.txt
|
|
# Initial display setting for position, RELATIVE or MACHINE
|
|
POSITION_OFFSET = RELATIVE
|
|
# Initial display setting for position, COMMANDED or ACTUAL
|
|
POSITION_FEEDBACK = ACTUAL
|
|
# Highest value that will be allowed for feed override, 1.0 = 100%
|
|
MAX_FEED_OVERRIDE = 2.0
|
|
# Prefix to be used
|
|
PROGRAM_PREFIX = ../../nc_files/
|
|
# Introductory graphic
|
|
INTRO_GRAPHIC = linuxcnc.gif
|
|
INTRO_TIME = 5
|
|
# Task controller section -----------------------------------------------------
|
|
|
|
[FILTER]
|
|
PROGRAM_EXTENSION = .py Python Script
|
|
py = python3
|
|
# Trajectory planner section --------------------------------------------------
|
|
|
|
[RS274NGC]
|
|
# File containing interpreter variables
|
|
PARAMETER_FILE = stepper.var
|
|
# Motion control section ------------------------------------------------------
|
|
|
|
[EMCMOT]
|
|
EMCMOT = motmod
|
|
# Timeout for comm to emcmot, in seconds
|
|
COMM_TIMEOUT = 1.0
|
|
# Base task period, in seconds - this is the fastest thread in the machine
|
|
BASE_PERIOD = 50000
|
|
# Servo task period, in seconds - will be rounded to an integer multiple
|
|
# of BASE_PERIOD
|
|
SERVO_PERIOD = 1000000
|
|
# Trajectory Planner task period, in seconds - will be rounded to an
|
|
# integer multiple of SERVO_PERIOD
|
|
TRAJ_PERIOD = 10000000
|
|
# Hardware Abstraction Layer section --------------------------------------------------
|
|
|
|
[TASK]
|
|
# Name of task controller program, e.g., bridgeporttask
|
|
TASK = milltask
|
|
# Cycle time, in seconds, that task controller will sleep between polls
|
|
CYCLE_TIME = 0.010
|
|
# Part program interpreter section --------------------------------------------
|
|
|
|
[HAL]
|
|
# The run script first uses halcmd to execute any HALFILE
|
|
# files, and then to execute any individual HALCMD commands.
|
|
#
|
|
# list of hal config files to run through halcmd
|
|
# files are executed in the order in which they appear
|
|
HALFILE = core_stepper.hal
|
|
HALFILE = standard_pinout.hal
|
|
# list of halcmd commands to execute
|
|
# commands are executed in the order in which they appear
|
|
#HALCMD = save neta
|
|
# Section Filter
|
|
|
|
[HALUI]
|
|
#No Content
|
|
|
|
[TRAJ]
|
|
COORDINATES = X Y Z
|
|
HOME = 0 0 0
|
|
LINEAR_UNITS = mm
|
|
ANGULAR_UNITS = degree
|
|
DEFAULT_LINEAR_VELOCITY = 2
|
|
MAX_LINEAR_VELOCITY = 50
|
|
DEFAULT_LINEAR_ACCELERATION = 20.0
|
|
MAX_LINEAR_ACCELERATION = 20.0
|
|
# Axes sections ---------------------------------------------------------------
|
|
# First axis
|
|
|
|
[EMCIO]
|
|
# tool table file
|
|
TOOL_TABLE = stepper.tbl
|
|
|
|
[KINS]
|
|
KINEMATICS = trivkins
|
|
JOINTS = 3
|
|
|
|
[AXIS_X]
|
|
MIN_LIMIT = -230.0
|
|
MAX_LIMIT = 230.0
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 20.0
|
|
|
|
[JOINT_0]
|
|
TYPE = LINEAR
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 20.0
|
|
STEPGEN_MAXVEL = 6
|
|
STEPGEN_MAXACCEL = 22
|
|
BACKLASH = 0.20
|
|
SCALE = -800
|
|
MIN_LIMIT = -230.0
|
|
MAX_LIMIT = 230.0
|
|
FERROR = 0.500
|
|
MIN_FERROR = 0.500
|
|
HOME_OFFSET = 0.0
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
# Second axis
|
|
|
|
[AXIS_Y]
|
|
MIN_LIMIT = -127.0
|
|
MAX_LIMIT = 127.0
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 20.0
|
|
|
|
[JOINT_1]
|
|
TYPE = LINEAR
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 20.0
|
|
STEPGEN_MAXVEL = 6
|
|
STEPGEN_MAXACCEL = 22
|
|
BACKLASH = 0.350
|
|
SCALE = -800
|
|
MIN_LIMIT = -127.0
|
|
MAX_LIMIT = 127.0
|
|
FERROR = 0.500
|
|
MIN_FERROR = 0.500
|
|
HOME_OFFSET = 0.0
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
# Third axis
|
|
|
|
[AXIS_Z]
|
|
MIN_LIMIT = -159.0
|
|
MAX_LIMIT = 159.0
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 20.0
|
|
|
|
[JOINT_2]
|
|
TYPE = LINEAR
|
|
HOME = 0.0
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 20.0
|
|
STEPGEN_MAXVEL = 6
|
|
STEPGEN_MAXACCEL = 22
|
|
BACKLASH = 0.20
|
|
SCALE = -800
|
|
MIN_LIMIT = -159.0
|
|
MAX_LIMIT = 159.0
|
|
FERROR = 0.500
|
|
MIN_FERROR = 0.500
|
|
HOME_OFFSET = 0.0
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
# Four axis
|
|
|
|
[AXIS_A]
|
|
MIN_LIMIT = -10000
|
|
MAX_LIMIT = 10000
|
|
MAX_VELOCITY = 50
|
|
MAX_ACCELERATION = 20.0
|
|
|
|
[JOINT_3]
|
|
TYPE = ANGULAR
|
|
HOME = 0.0
|
|
MAX_VELOCITY = 50
|
|
MAX_ACCELERATION = 20.0
|
|
STEPGEN_MAXVEL = 52
|
|
STEPGEN_MAXACCEL = 22
|
|
BACKLASH = 0.000
|
|
SCALE = -8.8888888888
|
|
MIN_LIMIT = -10000
|
|
MAX_LIMIT = 10000
|
|
FERROR = 50.000
|
|
MIN_FERROR = 10.000
|
|
HOME_OFFSET = 0.0
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
# section for main IO controller parameters -----------------------------------
|