83 lines
1.4 KiB
INI
83 lines
1.4 KiB
INI
# This sim config uses 'immediate' homing
|
|
# To demonstrate motor-offsets:
|
|
# jog the extra joint(4) away from its turn-on position
|
|
# then home-all
|
|
|
|
[EMC]
|
|
MACHINE = 1extrajoint
|
|
VERSION = 1.1
|
|
|
|
[APPLICATIONS]
|
|
APP = halshow --fformat %.6f extrajoints.halshow
|
|
APP = sim_pin --title "j4 extrajoint" \
|
|
j4.limit3.min \
|
|
j4.limit3.max \
|
|
j4.limit3.maxv \
|
|
j4.limit3.maxa \
|
|
j4.limit3.in
|
|
|
|
[KINS]
|
|
JOINTS = 5
|
|
# NOTE: 4 kinematic joints + 1 extra (motmod) total=5
|
|
KINEMATICS = trivkins coordinates=XYYZ kinstype=both
|
|
|
|
[EMCMOT]
|
|
EMCMOT = motmod num_extrajoints=1
|
|
SERVO_PERIOD = 1000000
|
|
|
|
[HAL]
|
|
HALFILE = 1extrajoint.hal
|
|
HALUI = halui
|
|
|
|
|
|
[DISPLAY]
|
|
DISPLAY = axis
|
|
MAX_LINEAR_VELOCITY = 1
|
|
PROGRAM_PREFIX = .
|
|
|
|
[TASK]
|
|
TASK = milltask
|
|
CYCLE_TIME = 0.001
|
|
|
|
[RS274NGC]
|
|
PARAMETER_FILE = sim.var
|
|
|
|
[TRAJ]
|
|
COORDINATES = XYYZ
|
|
LINEAR_UNITS = inch
|
|
ANGULAR_UNITS = degree
|
|
|
|
[JOINT_0]
|
|
TYPE = LINEAR
|
|
HOME_SEQUENCE = 1
|
|
MAX_VELOCITY = 10
|
|
MAX_ACCELERATION = 100
|
|
|
|
[JOINT_1]
|
|
TYPE = LINEAR
|
|
HOME_SEQUENCE = -2
|
|
MAX_VELOCITY = 10
|
|
MAX_ACCELERATION = 100
|
|
|
|
[JOINT_2]
|
|
TYPE = LINEAR
|
|
HOME_SEQUENCE = -2
|
|
MAX_VELOCITY = 10
|
|
MAX_ACCELERATION = 100
|
|
|
|
[JOINT_3]
|
|
TYPE = LINEAR
|
|
HOME_SEQUENCE = 3
|
|
MAX_VELOCITY = 10
|
|
MAX_ACCELERATION = 100
|
|
|
|
[JOINT_4]
|
|
# this 'extra' joint is managed by a
|
|
# limit3 component after homing
|
|
TYPE = LINEAR
|
|
HOME_SEQUENCE = 0
|
|
MIN_LIMIT = -10
|
|
MAX_LIMIT = 10
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 100
|