118 lines
2.3 KiB
INI
118 lines
2.3 KiB
INI
[APPLICATIONS]
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# wheel jog simulation:
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APP = sim_pin \
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axis.x.jog-counts \
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axis.y.jog-counts \
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axis.z.jog-counts \
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axis.b.jog-counts \
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>/dev/null
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APP = halshow xyzb.halshow
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[KINS]
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JOINTS = 4
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KINEMATICS = trivkins coordinates=xyzb
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[HAL]
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HALUI = halui
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HALFILE = LIB:basic_sim.tcl
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HALFILE = LIB:wheeljogpins.tcl 0.1
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# simulate a locking rotary joint3
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HALCMD = loadrt timedelay names=timedelay_unlock
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HALCMD = addf timedelay_unlock servo-thread
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HALCMD = net B-unlock joint.3.unlock => timedelay_unlock.in
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HALCMD = net B-is-unlocked timedelay_unlock.out => joint.3.is-unlocked
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HALCMD = setp timedelay_unlock.on-delay 0.75
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HALCMD = setp timedelay_unlock.off-delay 0.5
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[EMC]
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VERSION = 1.1
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MACHINE = XYZB trivkins coordinates=xyzb
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[DISPLAY]
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DISPLAY = axis
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CYCLE_TIME = 0.100
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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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GEOMETRY = XYZB
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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 = xyzb.var
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[EMCMOT]
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EMCMOT = motmod unlock_joints_mask=0x08
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COMM_TIMEOUT = 1.0
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SERVO_PERIOD = 1000000
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[TRAJ]
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NO_FORCE_HOMING = 1
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COORDINATES = X Y Z B
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 10.0
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DEFAULT_LINEAR_ACCELERATION = 200.0
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DEFAULT_ANGULAR_VELOCITY = 45.0
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MAX_LINEAR_VELOCITY = 10
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MAX_LINEAR_ACCELERATION = 200.0
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MAX_ANGULAR_VELOCITY = 3600.0
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[AXIS_X]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 200
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[AXIS_Y]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 200
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[AXIS_Z]
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 200
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[AXIS_B]
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LOCKING_INDEXER_JOINT = 3
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MAX_ACCELERATION = 200
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MAX_VELOCITY = 3600
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_SEARCH_VEL = 0
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HOME_LATCH_VEL = 0
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HOME_SEQUENCE = 0
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_SEARCH_VEL = 0
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HOME_LATCH_VEL = 0
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HOME_SEQUENCE = 0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 10
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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HOME_SEARCH_VEL = 0
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HOME_LATCH_VEL = 0
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HOME_SEQUENCE = 0
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[JOINT_3]
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TYPE = ANGULAR
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HOME = 0.0
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MAX_VELOCITY = 90.0
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MAX_ACCELERATION = 1200.0
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HOME_SEARCH_VEL = 0
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HOME_LATCH_VEL = 0
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LOCKING_INDEXER = 1
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HOME_SEQUENCE = 0
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