197 lines
4.0 KiB
INI
197 lines
4.0 KiB
INI
[EMC]
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VERSION = 1.1
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MACHINE = LinuxCNC-sim-9axis
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DEBUG = 0
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[DISPLAY]
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DISPLAY = qtvcp qt_cnc_9_axis
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PREFERENCE_FILE_PATH = WORKINGFOLDER/qt_cnc_9axis.pref
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CYCLE_TIME = 0.100
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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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MAX_SPINDLE_OVERRIDE = 1.5
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PROGRAM_PREFIX = ../../nc_files/
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 2
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#EDITOR = geany
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GEOMETRY = XYZABCUVW
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INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
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ANGULAR_INCREMENTS = 1 deg, 10 deg, 45 deg, 180 deg, 360 deg
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MAX_LINEAR_VELOCITY = 1.2
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DEFAULT_LINEAR_VELOCITY = 1
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MAX_ANGULAR_VELOCITY = 90.0
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DEFAULT_ANGULAR_VELOCITY = 80
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[MDI_COMMAND_LIST]
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MDI_COMMAND = G0 X0Y0Z0
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MDI_COMMAND = G0 X1Y1Z1
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode
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gif = image-to-gcode
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jpg = image-to-gcode
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py = python
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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[RS274NGC]
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PARAMETER_FILE = sim-9axis.var
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SUBROUTINE_PATH = ~/linuxcnc/nc_files/macros/lathe
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[EMCMOT]
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# joint4 is locked rotary
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# create hal pins: joint4.unlock, joint.4.is-locked
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# JOINTS_AXES specify joint4 with mask:
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EMCMOT = motmod unlock_joints_mask=0x10
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COMM_TIMEOUT = 1.0
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SERVO_PERIOD = 1000000
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[EMCIO]
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TOOL_TABLE = ../sim.tbl
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TOOL_CHANGE_POSITION = 0 0 2
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[HAL]
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HALUI = halui
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HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange
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HALFILE = locking_indexer.hal
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[TRAJ]
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COORDINATES = X Y Z A B C U V W
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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POSITION_FILE = position9.txt
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MAX_LINEAR_VELOCITY = 1.2
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 9
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[AXIS_X]
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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[AXIS_Y]
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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[AXIS_Z]
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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[AXIS_A]
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MAX_VELOCITY = 90
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MAX_ACCELERATION = 1200.0
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[AXIS_B]
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MAX_VELOCITY = 90
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MAX_ACCELERATION = 1200.0
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[AXIS_C]
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MAX_VELOCITY = 90
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MAX_ACCELERATION = 1200.0
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[AXIS_U]
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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[AXIS_V]
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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[AXIS_W]
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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[JOINT_0]
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TYPE = LINEAR
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_SEARCH_VEL = 5.0
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HOME_LATCH_VEL = 1.0
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HOME_SEQUENCE = 1
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[JOINT_1]
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TYPE = LINEAR
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_SEARCH_VEL = 5.0
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HOME_LATCH_VEL = 1.0
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HOME_SEQUENCE = 1
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[JOINT_2]
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TYPE = LINEAR
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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HOME_SEARCH_VEL = 5.0
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HOME_LATCH_VEL = 1.0
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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 = 90.0
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MAX_ACCELERATION = 1200.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_SEQUENCE = 1
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[JOINT_4]
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TYPE = ANGULAR
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MAX_VELOCITY = 90.0
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MAX_ACCELERATION = 1200.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_SEQUENCE = 1
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[JOINT_5]
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TYPE = ANGULAR
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MAX_VELOCITY = 90.0
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MAX_ACCELERATION = 1200.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_SEQUENCE = 1
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[JOINT_6]
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TYPE = LINEAR
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_SEQUENCE = 0
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[JOINT_7]
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TYPE = LINEAR
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_SEQUENCE = 0
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[JOINT_8]
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TYPE = LINEAR
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_SEQUENCE = 0
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