147 lines
3.1 KiB
INI
147 lines
3.1 KiB
INI
[KINS]
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JOINTS = 4
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KINEMATICS = trivkins coordinates=XYZY kinstype=BOTH
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# Notes:
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# KINEMATICS coordinates=value MUST agree with [TRAJ]COORDINATES
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#
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# X: JOINT_0
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# Y: JOINT_1 and JOINT_3
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# Z: JOINT_2
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#
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# kinstype=BOTH specifies non-identity kinematics
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#
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# HOME ALL sequence:
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# HOME_SEQUENCE 0 (first) JOINT_0 (coordinate X)
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# HOME_SEQUENCE -1 (second) JOINT_1 and JOINT_3 (coordinate Y)
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# HOME_SEQUENCE 2 (third) JOINT_2 (coordinate Z)
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# The negative (-1) sequence indicates synchronization of
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# the final move for all joints in the sequence
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[EMC]
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VERSION = 1.1
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MACHINE = LinuxCNC-GANTRY-SIM-AXIS
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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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[DISPLAY]
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DISPLAY = axis
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CYCLE_TIME = 0.100
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HELP_FILE = tklinuxcnc.txt
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 1.2
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PROGRAM_PREFIX = ../../nc_files/
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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INCREMENTS = 0.100 in, 0.010 in, 0.001 in, 0.0001 in
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GEOMETRY = XYZ
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
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PROGRAM_EXTENSION = .dxf 3D Polygon Model
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode.py
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gif = image-to-gcode.py
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jpg = image-to-gcode.py
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dxf = toolpaths.py
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py = python3
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[RS274NGC]
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PARAMETER_FILE = sim.var
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 1.0
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SERVO_PERIOD = 1000000
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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[HAL]
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HALFILE = gantrysim.hal
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HALFILE = sim_spindle_encoder.hal
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HALFILE = simulated-gantry-home.hal
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[TRAJ]
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# These two variables are a bit weird for gantry machines.
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# The gantry machine that this sim config describes has only three axes (X,
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# Y, and Z), but it uses two joints to implement the Y axis.
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# The [TRAJ]COORDINATES variable only lists the axis names
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# that are accepted in incoming G-code, and duplicate names here have no
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# effect.
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COORDINATES = XYZY
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 1.0
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MAX_LINEAR_VELOCITY = 58
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[EMCIO]
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TOOL_TABLE = sim.tbl
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[AXIS_X]
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MIN_LIMIT = -0.01
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MAX_LIMIT = 50.0
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MAX_VELOCITY = 39
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MAX_ACCELERATION = 120.0
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[JOINT_0]
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TYPE = LINEAR
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MIN_LIMIT = -0.01
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MAX_LIMIT = 50.0
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MAX_VELOCITY = 39
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MAX_ACCELERATION = 120.0
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HOME = 0
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HOME_SEQUENCE = 0
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HOME_SEARCH_VEL = -10
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HOME_LATCH_VEL = 5
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HOME_OFFSET = -0.1
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[AXIS_Y]
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MIN_LIMIT = -0.01
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MAX_LIMIT = 50.0
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MAX_VELOCITY = 39
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MAX_ACCELERATION = 120.0
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[JOINT_1]
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TYPE = LINEAR
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MIN_LIMIT = -0.01
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MAX_LIMIT = 50.0
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MAX_VELOCITY = 39
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MAX_ACCELERATION = 120.0
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HOME = 0.0
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HOME_SEQUENCE = -1
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HOME_SEARCH_VEL = -0.1
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HOME_LATCH_VEL = 0.05
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HOME_OFFSET = -0.1
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[AXIS_Z]
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MIN_LIMIT = -50.0
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MAX_LIMIT = 0.01
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MAX_VELOCITY = 39
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MAX_ACCELERATION = 120.0
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[JOINT_2]
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TYPE = LINEAR
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MIN_LIMIT = -50.0
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MAX_LIMIT = 0.01
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MAX_VELOCITY = 39
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MAX_ACCELERATION = 120.0
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HOME = 0.0
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HOME_SEQUENCE = 2
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HOME_SEARCH_VEL = 0.1
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HOME_LATCH_VEL = -0.05
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HOME_OFFSET = 0.1
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[JOINT_3]
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TYPE = LINEAR
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MIN_LIMIT = -0.01
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MAX_LIMIT = 50
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MAX_VELOCITY = 39
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MAX_ACCELERATION = 120.0
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HOME = 0.0
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HOME_SEQUENCE = -1
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HOME_SEARCH_VEL = -0.1
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HOME_LATCH_VEL = 0.05
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HOME_OFFSET = -0.1
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