139 lines
3.0 KiB
INI
139 lines
3.0 KiB
INI
# NOTES:
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# 1) [JOINT_4]HOME is a small value to avoid a singularity detected by pumakins
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# 2) No [JOINT_N] or [AXIS_L] MIN_LIMIT,MAX_LIMIT items are used so that
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# big system defaults apply and allow operation for many conditions that
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# may not be representative of real hardware
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# 3) ini vel/accel settings are for convenience and not realistic
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# 4) To offset the initial homed position (0,0,0,0,0,0) for the coordinate
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# coordinate system (p0), use coordinate setting commands:
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# g10l2p0 x 450
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# g10l2p0 y 100
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# g10l2p0 z -495
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# g10l2p0 a 180
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# g10l2p0 b 0
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# g10l2p0 c 0
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[JOINT_0]
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TYPE = ANGULAR
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MAX_VELOCITY = 300.0
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MAX_ACCELERATION = 2000.0
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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 = 300.0
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MAX_ACCELERATION = 2000.0
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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 = 300.0
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MAX_ACCELERATION = 2000.0
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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 = 300.0
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MAX_ACCELERATION = 2000.0
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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 = 300.0
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MAX_ACCELERATION = 2000.0
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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 = 300.0
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MAX_ACCELERATION = 2000.0
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HOME_SEQUENCE = 0
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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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[AXIS_Y]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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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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[AXIS_A]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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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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[AXIS_C]
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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[DISPLAY]
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OPEN_FILE = ./puma_cube.ngc
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#alternate: OPEN_FILE = ./puma_seam_weld.ngc
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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 = 1
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PYVCP = puma.xml
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[EMC]
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VERSION = 1.1
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MACHINE = puma_cube.ini (pumakins)
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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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PARAMETER_FILE = puma.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 = puma_dh.hal
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HALCMD = loadusr -W pumagui
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HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
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POSTGUI_HALFILE = puma_postgui.hal
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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:pumakins (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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[TRAJ]
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COORDINATES = X Y Z A B C
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LINEAR_UNITS = mm
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ANGULAR_UNITS = deg
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DEFAULT_LINEAR_VELOCITY = 30.0
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MAX_LINEAR_VELOCITY = 1000.0
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MAX_ANGULAR_VELOCITY = 10
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DEFAULT_LINEAR_ACCELERATION = 100.0
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MAX_LINEAR_ACCELERATION = 2000.0
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[EMCIO]
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TOOL_TABLE = puma.tbl
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[KINS]
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KINEMATICS = pumakins
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JOINTS = 6
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