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linuxcncAllWasm/configs/sim/gscreen/gscreen_custom/9axis.ini
Wang Dequan 2c814634c3 Import LinuxCNC source tree
2026-08-20 06:17:39 +08:00

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# EMC controller parameters for a simulated machine.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[EMC]
# Version of this INI file
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-HAL-SIM-GSCREEN
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
# DEBUG = 0x7FFFFFFF
DEBUG = 0
# Sections for display options ------------------------------------------------
[DISPLAY]
; -c sets the glade and handler file to load -d is to display extra debug messages
DISPLAY = gscreen -c 9_axis
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest / lowest value that will be allowed for overrides, 1.0 = 100%
MAX_SPINDLE_OVERRIDE = 2.0
MIN_SPINDLE_OVERRIDE = .5
MAX_FEED_OVERRIDE = 2.0
# Max and default jog speeds in units per second
MAX_LINEAR_VELOCITY = 1.2
DEFAULT_LINEAR_VELOCITY = .5
DEFAULT_ANGULAR_VELOCITY = 30
# list of selectable jog increments
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
ANGULAR_INCREMENTS = 1,10,15,45,90,180
# This is used by Gscreen to display the machine anglular joints movements properly
GEOMETRY = XYZBCUVW
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
# Task controller section -----------------------------------------------------
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = sim-9gscreen.var
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod unlock_joints_mask=0x10
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
# Name of task controller program, e.g., milltask
TASK = milltask
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#
# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE = LIB:basic_sim.tcl
HALFILE = locking_indexer.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Single file that is executed after the GUI has started.
#POSTGUI_HALFILE = test_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[HALUI]
#No Content
[TRAJ]
COORDINATES = X Y Z A B C U V W
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.0
POSITION_FILE = position9.txt
MAX_LINEAR_VELOCITY = 1.2
# Axes sections ---------------------------------------------------------------
[EMCIO]
# tool table file
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 2
[KINS]
KINEMATICS = trivkins
JOINTS = 9
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_Z]
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[AXIS_A]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_B]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
LOCKING_INDEXER_JOINT = 4
[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 45.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
LOCKING_INDEXER = 1
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_5]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_U]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_6]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[AXIS_V]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_7]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[AXIS_W]
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
[JOINT_8]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
# section for main IO controller parameters -----------------------------------
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