163 lines
3.2 KiB
INI
163 lines
3.2 KiB
INI
[EMC]
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VERSION = 1.1
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MACHINE = hexapod (switchkins)
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DEBUG = 0
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[DISPLAY]
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DISPLAY = axis
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CYCLE_TIME = 0.200
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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 = 2.0
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PROGRAM_PREFIX = ../../nc_files/
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 2
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PYVCP = hexapod.xml
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GEOMETRY = XYZA-B
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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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# start with no offsets
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RS274NGC_STARTUP_CODE = G20 G10l2P0 x0 y0 z0 a0 b0 c0 (debug, ini: set offsets)
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PARAMETER_FILE = hexapod.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 = kinematics.hal
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HALCMD = loadusr -W hexagui
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HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
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POSTGUI_HALFILE = hexapod_postgui.hal
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[HALUI]
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# M428:genhexkins (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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# Note: the HOME Z coordinate should not be zero for this config
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HOME = 0 0 20 0 0 0
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NO_FORCE_HOMING = 1
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COORDINATES = X Y Z A B C
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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 = 10.0
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DEFAULT_LINEAR_ACCELERATION = 10.0
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MAX_LINEAR_ACCELERATION = 20.0
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DEFAULT_ANGULAR_VELOCITY = 6
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MAX_ANGULAR_VELOCITY = 6
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[EMCIO]
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TOOL_TABLE = hexapod.tbl
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[KINS]
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# Note: for identity, default order is XYZABC: joints 0,1,2,3,4,5
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# use coordinates= to define a non-default ordering
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KINEMATICS = genhexkins
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JOINTS = 6
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[JOINT_0]
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TYPE = LINEAR
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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HOME_OFFSET= 29.7466
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HOME = 29.7466
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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 = 20.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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HOME_OFFSET= 29.7466
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HOME = 29.7466
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HOME_SEQUENCE = 0
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[JOINT_2]
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TYPE = LINEAR
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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HOME_OFFSET= 29.7466
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HOME = 29.7466
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HOME_SEQUENCE = 0
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[JOINT_3]
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TYPE = LINEAR
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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HOME_OFFSET= 29.7466
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HOME = 29.7466
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HOME_SEQUENCE = 0
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[JOINT_4]
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TYPE = LINEAR
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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HOME_OFFSET= 29.7466
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HOME = 29.7466
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HOME_SEQUENCE = 0
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[JOINT_5]
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TYPE = LINEAR
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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HOME_OFFSET= 29.7466
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HOME = 29.7466
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HOME_SEQUENCE = 0
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[AXIS_X]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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[AXIS_Y]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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[AXIS_Z]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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[AXIS_A]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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[AXIS_B]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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[AXIS_C]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 20.0
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MAX_ACCELERATION = 200.0
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