105 lines
2.0 KiB
INI
105 lines
2.0 KiB
INI
# Notes:
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# 1) [AXIS_n]OFFSET_AV_RATIO= controls external offsets a,v
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# Allowed values are 0.0 <= OFFSET_AV_RATIO <= 0.9
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# Value of 0.0 disables external offsets
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# Disallowed values are superseded with msg to stdout
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# 2) Immediate homing herein
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# ([JOINT_*]HOME_SEQUENCE=0, other HOME_* items omitted)
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# 3) uncomment [JOINT_0]HOME_SEARCH_VEL,HOME_LATCH_VEL
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# to demonstrate non-zero joint.0.motor-offset
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[APPLICATIONS]
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APP = sim_pin --title "MPG Simulator" \
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e:xcounts \
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e:ycounts \
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e:zcounts
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# make sure [xyz]:ecounts are zero if machine off:
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APP = eoffsets_monitor.tcl
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[HAL]
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HALUI = halui
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HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange
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HALFILE = eoffsets.hal
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POSTGUI_HALFILE = eoffsets_panel.hal
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[EMC]
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MACHINE = External Offsets Demo
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VERSION = 1.1
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[DISPLAY]
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PYVCP = eoffsets_panel.xml
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DISPLAY = axis
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_LINEAR_VELOCITY = 2
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OPEN_FILE = ./eoffsets.ngc
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TKPKG = Ngcgui 1.0
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NGCGUI_FONT = Helvetica -12 normal
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NGCGUI_SUBFILE = queuebuster.ngc
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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[RS274NGC]
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SUBROUTINE_PATH = .
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USER_M_PATH = .
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PARAMETER_FILE = sim.var
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[EMCIO]
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TOOL_TABLE = eoffset.tbl
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[EMCMOT]
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EMCMOT = motmod
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SERVO_PERIOD = 1000000
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[TRAJ]
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COORDINATES = XYZ
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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[KINS]
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JOINTS = 3
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KINEMATICS = trivkins coordinates=XYZ
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[AXIS_X]
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OFFSET_AV_RATIO = 0.2
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MAX_VELOCITY = 2
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MAX_ACCELERATION = 20
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MIN_LIMIT = -0.1
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MAX_LIMIT = 10
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[AXIS_Y]
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OFFSET_AV_RATIO = 0.2
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MAX_VELOCITY = 2
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MAX_ACCELERATION = 20
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MIN_LIMIT = -0.1
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MAX_LIMIT = 5
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[AXIS_Z]
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OFFSET_AV_RATIO = 0.2
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MAX_VELOCITY = 2
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MAX_ACCELERATION = 20
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MIN_LIMIT = -1
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MAX_LIMIT = 1
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[JOINT_0]
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TYPE = LINEAR
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HOME_SEQUENCE = 0
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MAX_VELOCITY = 2
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MAX_ACCELERATION = 20
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[JOINT_1]
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TYPE = LINEAR
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HOME_SEQUENCE = 0
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MAX_VELOCITY = 2
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MAX_ACCELERATION = 20
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[JOINT_2]
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TYPE = LINEAR
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HOME_SEQUENCE = 0
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MAX_VELOCITY = 2
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MAX_ACCELERATION = 20
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