146 lines
2.9 KiB
INI
146 lines
2.9 KiB
INI
[APPLICATIONS]
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APP = halshow ./millturn.halshow
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[EMC]
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VERSION = 1.1
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MACHINE = millturn (mm)
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DEBUG = 0
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[KINS]
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KINEMATICS = millturn
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JOINTS= 4
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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 = millturn.hal
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HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
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POSTGUI_HALFILE = millturn-postgui.hal
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[RS274NGC]
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USER_M_PATH = ./mcodes
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PARAMETER_FILE = millturn.var
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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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# Set startup offsets
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RS274NGC_STARTUP_CODE = G10 L2 P7 X-290 Y0 Z-160 A0 G59.1
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[HALUI]
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# MDI-COMMANDS 00, 01 (remapped) for switching kinematics and limits:
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# M428: mill (kinstype==0 startupDEFAULT)
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# M429: turn (kinstype==1)
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MDI_COMMAND = M428
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MDI_COMMAND = M429
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# MDI-COMMANDS 02, 03 are for altering limits when switching
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# Note that M129 and M129 are not meant to be called directly.
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MDI_COMMAND = M128
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MDI_COMMAND = M129
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[DISPLAY]
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DISPLAY = axis
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GEOMETRY = XYZA
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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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DEFAULT_LINEAR_VELOCITY = 60.0
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DEFAULT_ANGULAR_VELOCITY = 40.0
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MAX_FEED_OVERRIDE = 2.0
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PROGRAM_PREFIX = ./
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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PYVCP = millturn.xml
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EDITOR = geany
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OPEN_FILE = example.ngc
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.010
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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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[TRAJ]
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COORDINATES = X Y Z A
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LINEAR_UNITS = mm
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ANGULAR_UNITS = deg
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DEFAULT_LINEAR_VELOCITY = 60.0
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DEFAULT_ANGULAR_VELOCITY = 60.0
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MAX_LINEAR_VELOCITY = 200.0
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MAX_ANGULAR_VELOCITY = 100.0
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DEFAULT_LINEAR_ACCELERATION = 200.0
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MAX_LINEAR_ACCELERATION = 400.0
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[EMCIO]
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TOOL_TABLE = millturn.tbl
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[JOINT_0]
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TYPE = LINEAR
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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MIN_LIMIT = -300
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MAX_LIMIT = 300
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HOME_SEQUENCE = 0
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HOME_OFFSET = 0
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HOME = 0
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[JOINT_1]
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TYPE = LINEAR
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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MIN_LIMIT = -100
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MAX_LIMIT = 100
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HOME_OFFSET = 0.0
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HOME_SEQUENCE = 0
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HOME = 0
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[JOINT_2]
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TYPE = LINEAR
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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MIN_LIMIT = -240
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MAX_LIMIT = 0
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HOME_OFFSET = 0.0
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HOME_SEQUENCE = 0
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HOME = 0
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[JOINT_3]
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TYPE = ANGULAR
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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HOME_OFFSET = 0.0
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HOME_SEQUENCE = 0
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HOME = 0.001
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[AXIS_X]
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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# define softlimits for default kinematic (mill)
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MIN_LIMIT = -300
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MAX_LIMIT = 300
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# define softlimits for alternate kinematic (turn)
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MIN_LIMIT_TURN = -240
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MAX_LIMIT_TURN = 0
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[AXIS_Y]
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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# define softlimits for default kinematic (mill)
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MIN_LIMIT = -100
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MAX_LIMIT = 100
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# define softlimits for alternate kinematic (turn)
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MIN_LIMIT_TURN = -100
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MAX_LIMIT_TURN = 100
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[AXIS_Z]
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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# define softlimits for default kinematic (mill)
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MIN_LIMIT = -240
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MAX_LIMIT = 0
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# define softlimits for alternate kinematic (turn)
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MIN_LIMIT_TURN = -300
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MAX_LIMIT_TURN = 300
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[AXIS_A]
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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