201 lines
4.5 KiB
INI
201 lines
4.5 KiB
INI
[EMC]
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VERSION = 1.1
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MACHINE = Sim-5Axis Bridge Mill (xyzbcw)
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DEBUG = 0
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[DISPLAY]
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GEOMETRY = XYZCBW
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OPEN_FILE = ./5axisgui.ngc
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INCREMENTS = 10 mm, 1 mm, .1 mm
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JOG_AXES = XYZC
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DISPLAY = axis
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CYCLE_TIME = 0.200
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 2.0
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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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TOOL_EDITOR = tooledit z diam
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#EDITOR = geany
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PYVCP = 5axis.xml
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[RS274NGC]
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SUBROUTINE_PATH = ./remap_subs
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HAL_PIN_VARS = 1
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REMAP = M428 modalgroup=10 ngc=428remap
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REMAP = M429 modalgroup=10 ngc=429remap
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REMAP = M430 modalgroup=10 ngc=430remap
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PARAMETER_FILE = 5axis.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 = 0.010
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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 = 5axisgui.hal
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HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
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POSTGUI_HALFILE = 5axis_postgui.hal
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[HALUI]
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# M428:bridgemill (kinstype==0 startupDEFAULT)
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# M429:identity kins (kinstype==1)
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# M430:userk kins (kinstype==2)
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MDI_COMMAND = M428
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MDI_COMMAND = M429
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MDI_COMMAND = M430
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[TRAJ]
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COORDINATES = XYZBCWY
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LINEAR_UNITS = mm
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ANGULAR_UNITS = degree
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MAX_ANGULAR_VELOCITY = 360.0
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DEFAULT_LINEAR_VELOCITY = 200.0
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MAX_LINEAR_VELOCITY = 346.0
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MAX_LINEAR_ACCELERATION = 800.0
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DEFAULT_LINEAR_ACCELERATION = 800.0
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[EMCIO]
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TOOL_TABLE = 5axis.tbl
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[KINS]
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# Note: Supported coordinates are XYZBCW but the W coordinate
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# motion is incorporated into the X,Y,Z axes.
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# Use of the W coordinate requires a joint (5)
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# in order to allow display of W values.
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# Use immediate homing for this joint (JOINT_5)
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# Note: 5axiskins is misnomer
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# (xyzbcw uses 6 joints)
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# (xyzbcwy uses 7 joints)
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# xyzbcw
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# type0:5axiskins, type1:identity, type2:userk
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# x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5
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# JOINTS = 6
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# KINEMATICS = 5axiskins
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# illustraed below is complex example with duplicate
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# coord letters for y, 7 joints total):
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# type0:5axiskins, type1:identity, type2:userk
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# x:joint0
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# y:joint1 AND joint6
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# z:joint2
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# b:joint3
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# c:joint4
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# w:joint5
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JOINTS = 7
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KINEMATICS = 5axiskins coordinates=xyzbcwy
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[AXIS_X]
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MIN_LIMIT = -500
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MAX_LIMIT = 500
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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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[AXIS_Y]
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MIN_LIMIT = -500
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MAX_LIMIT = 500
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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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[AXIS_Z]
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MIN_LIMIT = -500
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MAX_LIMIT = 100
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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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# B is one-to-one to JOINT_3
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[AXIS_B]
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MIN_LIMIT = -120
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MAX_LIMIT = 120
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MAX_VELOCITY = 60
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MAX_ACCELERATION = 200
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# C is one-to-one to JOINT_4
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[AXIS_C]
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MIN_LIMIT = -36000
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MAX_LIMIT = 36000
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MAX_VELOCITY = 60
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MAX_ACCELERATION = 200
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# W motion is incorporated in Z motion
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# but a joint (JOINT_5) must be configured
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# to support display of W values
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[AXIS_W]
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MIN_LIMIT = -100
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MAX_LIMIT = 500
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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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[JOINT_0]
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TYPE = LINEAR
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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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MIN_LIMIT = -500
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MAX_LIMIT = 500
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HOME_SEARCH_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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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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MIN_LIMIT = -500
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MAX_LIMIT = 500
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = -1
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# joints 1 and 6 used for y
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[JOINT_6]
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TYPE = LINEAR
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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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MIN_LIMIT = -500
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MAX_LIMIT = 500
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = -1
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[JOINT_2]
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TYPE = LINEAR
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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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MIN_LIMIT = -500
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MAX_LIMIT = 100
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HOME_SEARCH_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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MAX_VELOCITY = 60
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MAX_ACCELERATION = 200
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MIN_LIMIT = -120
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MAX_LIMIT = 120
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 0
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[JOINT_4]
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TYPE = ANGULAR
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MAX_VELOCITY = 60
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MAX_ACCELERATION = 200
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MIN_LIMIT = -36000
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MAX_LIMIT = 36000
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 0
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# immediate homing for JOINT_5 (w coordinate)
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[JOINT_5]
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TYPE = LINEAR
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MIN_LIMIT = -100
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MAX_LIMIT = 500
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MAX_VELOCITY = 200
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MAX_ACCELERATION = 800
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HOME_SEARCH_VEL = 0
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HOME_SEQUENCE = 0
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