174 lines
3.2 KiB
INI
174 lines
3.2 KiB
INI
[APPLICATIONS]
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#APP = halshow --fformat %12.4f puma560.halshow
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[EMC]
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VERSION = 1.1
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MACHINE = puma560 (switchkins) (inch)
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#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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DEBUG = 0
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[KINS]
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JOINTS= 6
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KINEMATICS= genserkins
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[HAL]
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HALUI = halui
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HALCMD = loadusr -W puma560gui
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HALFILE = LIB:basic_sim.tcl
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HALFILE = puma560_dh.hal
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HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
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POSTGUI_HALFILE = puma560_postgui.hal
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[RS274NGC]
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USER_M_PATH = ./mcodes
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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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RS274NGC_STARTUP_CODE = G20 G10L2P0 x19.2 y5.5 z9.4 a90 b0 c90 (debug, ini: startup offsets set)
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PARAMETER_FILE = puma560.var
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[HALUI]
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# MDI-COMMANDS 00,01,02 (remapped) do not alter limits when switching:
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# M428:genserkins (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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# MDI-COMMANDS 03,04,05 ALTER limits when switching
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MDI_COMMAND = M128
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MDI_COMMAND = M129
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MDI_COMMAND = M130
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[DISPLAY]
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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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PYVCP = puma560.xml
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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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[TRAJ]
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COORDINATES = X Y Z A B C
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LINEAR_UNITS = inch
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ANGULAR_UNITS = deg
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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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MAX_ANGULAR_VELOCITY = 100
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[EMCIO]
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TOOL_TABLE = puma.tbl
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[AXIS_X]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -100
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MAX_LIMIT = 100
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[AXIS_Y]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -100
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MAX_LIMIT = 100
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[AXIS_Z]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -100
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MAX_LIMIT = 100
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[AXIS_A]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -360.0
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MAX_LIMIT = 360.0
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[AXIS_B]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -360.0
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MAX_LIMIT = 360.0
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[AXIS_C]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -360.0
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MAX_LIMIT = 360.0
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[JOINT_0]
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TYPE = ANGULAR
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -180.0
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MAX_LIMIT = 180.0
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HOME_OFFSET = 0.0
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HOME = 0.000
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HOME_SEQUENCE = 0
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[JOINT_1]
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TYPE = ANGULAR
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -360.0
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MAX_LIMIT = 360.0
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HOME_OFFSET = 0.0
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HOME = 0.000
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HOME_SEQUENCE = 0
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[JOINT_2]
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TYPE = ANGULAR
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -215.0
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MAX_LIMIT = 35.0
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HOME_OFFSET = 0.0
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HOME = 0.000
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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 = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -360.0
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MAX_LIMIT = 360.0
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HOME_OFFSET = 0.0
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HOME = 0.000
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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 = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -360.0
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MAX_LIMIT = 360.0
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HOME_OFFSET = 0.0
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# avoid kinematisInverse fail:
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HOME = 0.1
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HOME_SEQUENCE = 0
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[JOINT_5]
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TYPE = ANGULAR
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = -360.0
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MAX_LIMIT = 360.0
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HOME_OFFSET = 0.0
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HOME = 0.000
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HOME_SEQUENCE = 0
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