224 lines
4.4 KiB
INI
224 lines
4.4 KiB
INI
[EMC]
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MACHINE = 12extrajoints
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VERSION = 1.1
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[APPLICATIONS]
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APP = halshow --fformat %.6f extrajoints.halshow
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# joint4 example:
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APP = sim_pin --title "j4 extrajoint" \
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j4.limit3.min \
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j4.limit3.max \
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j4.limit3.maxv \
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j4.limit3.maxa \
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j4.limit3.in
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[KINS]
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JOINTS = 16
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#NOTE: 4 conventional joints, 12 extra (motmod) total=16
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KINEMATICS = trivkins coordinates=XYYZ kinstype=both
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[EMCMOT]
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EMCMOT = motmod num_extrajoints=12
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SERVO_PERIOD = 1000000
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[HAL]
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TWOPASS = on
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HALFILE = LIB:basic_sim.tcl
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HALFILE = ./extrajoints.tcl
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HALUI = halui
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[DISPLAY]
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DISPLAY = axis
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MAX_LINEAR_VELOCITY = 1
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PROGRAM_PREFIX = .
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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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PARAMETER_FILE = sim.var
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[TRAJ]
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COORDINATES = XYYZ
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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[JOINT_0]
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TYPE = LINEAR
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HOME_SEQUENCE = 0
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 100
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[JOINT_1]
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TYPE = LINEAR
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HOME_SEQUENCE = -1
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 100
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[JOINT_2]
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TYPE = LINEAR
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HOME_SEQUENCE = -1
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 100
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[JOINT_3]
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TYPE = LINEAR
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HOME_SEQUENCE = 2
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 100
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[JOINT_4]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 3
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_5]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 4
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_6]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 5
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_7]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 6
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_8]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 7
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_9]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 8
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_10]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 9
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_11]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 10
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_12]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 11
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_13]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 12
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_14]
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 13
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HOME_SEARCH_VEL = 20
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HOME_LATCH_VEL = 20
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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[JOINT_15]
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# Uses IMMEDIATE homing
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# this 'extra' joint is managed by a
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# limit3 component after homing
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TYPE = LINEAR
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HOME_SEQUENCE = 14
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HOME_SEARCH_VEL = 0
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HOME_LATCH_VEL = 0
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 100
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