213 lines
5.6 KiB
INI
213 lines
5.6 KiB
INI
[EMC]
|
|
VERSION = 1.1
|
|
MACHINE = SIM-PENTAPOD
|
|
DEBUG = 0
|
|
|
|
[DISPLAY]
|
|
DISPLAY = axis
|
|
CYCLE_TIME = 0.200
|
|
HELP_FILE = tklinuxcnc.txt
|
|
POSITION_OFFSET = MACHINE
|
|
POSITION_FEEDBACK = ACTUAL
|
|
MAX_FEED_OVERRIDE = 2.0
|
|
PROGRAM_PREFIX = ../../nc_files/
|
|
INTRO_GRAPHIC = linuxcnc.gif
|
|
INTRO_TIME = 2
|
|
PYVCP = panel.xml
|
|
GEOMETRY = XYZ-AB
|
|
INCREMENTS = 10 mm, 1 mm, 0.1 mm
|
|
|
|
[FILTER]
|
|
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
|
|
PROGRAM_EXTENSION = .py Python Script
|
|
|
|
png = image-to-gcode
|
|
gif = image-to-gcode
|
|
jpg = image-to-gcode
|
|
py = python3
|
|
|
|
[RS274NGC]
|
|
PARAMETER_FILE = pentapod.var
|
|
SUBROUTINE_PATH = .
|
|
|
|
[EMCMOT]
|
|
EMCMOT = motmod
|
|
COMM_TIMEOUT = 1.0
|
|
COMM_WAIT = 0.010
|
|
SERVO_PERIOD = 1000000
|
|
TRAJ_PERIOD = 10000000
|
|
|
|
[TASK]
|
|
TASK = milltask
|
|
CYCLE_TIME = 0.010
|
|
|
|
[HAL]
|
|
HALUI = halui
|
|
HALFILE = LIB:basic_sim.tcl
|
|
HALFILE = kinematics.hal
|
|
POSTGUI_HALFILE = pentapod_postgui.hal
|
|
|
|
[HALUI]
|
|
MDI_COMMAND = G53 G0 X0 Y0 Z0 A0 B0
|
|
MDI_COMMAND = M6 T1 G43
|
|
MDI_COMMAND = G49
|
|
|
|
[TRAJ]
|
|
AXES = 5
|
|
COORDINATES = X Y Z A B
|
|
LINEAR_UNITS = mm
|
|
ANGULAR_UNITS = degree
|
|
CYCLE_TIME = 0.010
|
|
DEFAULT_VELOCITY = 5.00
|
|
DEFAULT_LINEAR_VELOCITY = 50.000000
|
|
MAX_LINEAR_VELOCITY = 100.000000
|
|
MIN_LINEAR_VELOCITY = 0.100000
|
|
DEFAULT_ANGULAR_VELOCITY = 1.000000
|
|
MAX_ANGULAR_VELOCITY = 10.000000
|
|
MIN_ANGULAR_VELOCITY = 0.100000
|
|
POSITION_FILE = position.txt
|
|
NO_FORCE_HOMING = 1
|
|
|
|
[EMCIO]
|
|
TOOL_TABLE = tool.tbl
|
|
TOOL_CHANGE_QUILL_UP = 1
|
|
|
|
[AXIS_X]
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 100
|
|
MAX_ACCELERATION = 1000
|
|
MIN_LIMIT = -250
|
|
MAX_LIMIT = 250
|
|
|
|
[AXIS_Y]
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 100
|
|
MAX_ACCELERATION = 1000
|
|
MIN_LIMIT = -250
|
|
MAX_LIMIT = 250
|
|
|
|
[AXIS_Z]
|
|
HOME = -0.000
|
|
MAX_VELOCITY = 100
|
|
MAX_ACCELERATION = 1000
|
|
MIN_LIMIT = -250
|
|
MAX_LIMIT = 250
|
|
|
|
[AXIS_A]
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 20
|
|
MAX_ACCELERATION = 50
|
|
MIN_LIMIT = -50
|
|
MAX_LIMIT = 50
|
|
|
|
[AXIS_B]
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 20
|
|
MAX_ACCELERATION = 50
|
|
MIN_LIMIT = -15
|
|
MAX_LIMIT = 15
|
|
|
|
[KINS]
|
|
KINEMATICS = pentakins
|
|
JOINTS = 5
|
|
|
|
[JOINT_0]
|
|
TYPE = LINEAR
|
|
HOME = 598.5792
|
|
MAX_VELOCITY = 100.0
|
|
MAX_ACCELERATION = 1000.0
|
|
BACKLASH = 0.000
|
|
INPUT_SCALE = 4000
|
|
OUTPUT_SCALE = 1.000
|
|
MIN_LIMIT = 400.0
|
|
MAX_LIMIT = 1500.0
|
|
FERROR = 2.000
|
|
MIN_FERROR = 0.200
|
|
HOME_OFFSET = 598.5792
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_FINAL_VEL = 15.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = -1
|
|
|
|
[JOINT_1]
|
|
TYPE = LINEAR
|
|
HOME = 697.1982
|
|
MAX_VELOCITY = 100.0
|
|
MAX_ACCELERATION = 1000.0
|
|
BACKLASH = 0.000
|
|
INPUT_SCALE = 4000
|
|
OUTPUT_SCALE = 1.000
|
|
MIN_LIMIT = 400.0
|
|
MAX_LIMIT = 1500.0
|
|
FERROR = 2.000
|
|
MIN_FERROR = 0.200
|
|
HOME_OFFSET = 697.1982
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_FINAL_VEL = 15.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = -1
|
|
|
|
[JOINT_2]
|
|
TYPE = LINEAR
|
|
HOME = 682.785
|
|
MAX_VELOCITY = 100.0
|
|
MAX_ACCELERATION = 1000.0
|
|
BACKLASH = 0.000
|
|
INPUT_SCALE = 4000
|
|
OUTPUT_SCALE = 1.000
|
|
MIN_LIMIT = 400.0
|
|
MAX_LIMIT = 1500.0
|
|
FERROR = 2.000
|
|
MIN_FERROR = 0.200
|
|
HOME_OFFSET = 682.785
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_FINAL_VEL = 15.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = -1
|
|
|
|
[JOINT_3]
|
|
TYPE = LINEAR
|
|
HOME = 787.9175
|
|
MAX_VELOCITY = 100.0
|
|
MAX_ACCELERATION = 1000.0
|
|
BACKLASH = 0.000
|
|
INPUT_SCALE = 4000
|
|
OUTPUT_SCALE = 1.000
|
|
MIN_LIMIT = 400.0
|
|
MAX_LIMIT = 1500.0
|
|
FERROR = 2.000
|
|
MIN_FERROR = 0.200
|
|
HOME_OFFSET = 787.9175
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_FINAL_VEL = 15.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = -1
|
|
|
|
[JOINT_4]
|
|
TYPE = LINEAR
|
|
HOME = 806.0397
|
|
MAX_VELOCITY = 100.0
|
|
MAX_ACCELERATION = 1000.0
|
|
BACKLASH = 0.000
|
|
INPUT_SCALE = 4000
|
|
OUTPUT_SCALE = 1.000
|
|
MIN_LIMIT = 400.0
|
|
MAX_LIMIT = 1500.0
|
|
FERROR = 2.000
|
|
MIN_FERROR = 0.200
|
|
HOME_OFFSET = 806.0397
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_FINAL_VEL = 15.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = -1
|