166 lines
3.5 KiB
INI
166 lines
3.5 KiB
INI
[EMC]
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VERSION = 1.1
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MACHINE = SCARA (genserkins,switchkins)
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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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[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 = scara.xml
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#EDITOR = geany
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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 = scara.var
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# startup mm and offsets for axis.ngc demo file:
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RS274NGC_STARTUP_CODE = G21 G10L2P0 x432 y65 z416 (debug, ini: startup offsets)
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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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[KINS]
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JOINTS = 6
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# switchkins:
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# kinstype==0 (default scarakins)
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# j0,j1,j2,j3 -- implement scarakins for xyzc
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# j4 == world->a (scaragui j4 is table tilt (y))
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# j5 == world->b (scaragui j5 is table tilt (x))
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# kinstype==1 (identity, assign per coordinates=xyzcab)
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# letter x -- assigned to j0
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# letter y -- assigned to j1
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# letter z -- assigned to j2
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# letter c -- assigned to j3
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# letter a -- assigned to j4 (same as scarakins)
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# letter b -- assigned to j5 (same as scarakins)
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# kinstype==2 (userk, template is identity, user may specify)
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#
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# Note: coordinate= ordering for identity kins preserves ab relationships
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KINEMATICS = scarakins coordinates=xyzcab
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[HAL]
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HALUI = halui
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HALFILE = LIB:basic_sim.tcl
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HALCMD = loadusr -W scaragui
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HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
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POSTGUI_HALFILE = scara_postgui.hal
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[HALUI]
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# M428:scara kins (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 = XYZABC
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LINEAR_UNITS = mm
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DEFAULT_LINEAR_VELOCITY = 10.0
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MAX_LINEAR_VELOCITY = 600.0
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DEFAULT_LINEAR_ACCELERATION = 100.0
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MAX_LINEAR_ACCELERATION = 200.0
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ANGULAR_UNITS = degree
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DEFAULT_ANGULAR_VELOCITY = 10.0
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MAX_ANGULAR_VELOCITY = 600.0
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DEFAULT_ANGULAR_ACCELERATION = 100.0
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MAX_ANGULAR_ACCELERATION = 200.0
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[EMCIO]
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TOOL_TABLE = scara.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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[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_C]
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MAX_VELOCITY = 60.0
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MAX_ACCELERATION = 400.0
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[JOINT_0]
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NAME = shoulder
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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_1]
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NAME = elbow
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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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NAME = z-slide
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TYPE = LINEAR
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MAX_VELOCITY = 30.0
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MAX_ACCELERATION = 200.0
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MIN_LIMIT = 25.0
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MAX_LIMIT = 300.0
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HOME_OFFSET = 25.0
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HOME = 25.000
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HOME_SEQUENCE = 0
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[JOINT_3]
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NAME = wrist
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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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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_4]
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NAME = table_rotate
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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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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_5]
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NAME = table_rotate
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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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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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