138 lines
3.1 KiB
INI
138 lines
3.1 KiB
INI
[EMC]
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VERSION = 1.1
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MACHINE = MOTION-TEST
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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DEBUG = 0x7FFFFFFF
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#DEBUG = 0x10
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[DISPLAY]
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DISPLAY = linuxcncrsh
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#PROGRAM_PREFIX = /home/seb/emc2/nc_files
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#MAX_FEED_OVERRIDE = 2.0
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = sim.var
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[EMCMOT]
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EMCMOT = motmod
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# Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 4.0
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# BASE_PERIOD is unused in this configuration but specified in LIB:core_sim.hal
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BASE_PERIOD = 0
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# Servo task period, in nano-seconds
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SERVO_PERIOD = 1000000
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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[HAL]
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HALFILE = LIB:core_sim.hal
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HALFILE = motion-test.hal
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[TRAJ]
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AXES = 3
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COORDINATES = X Y Z
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HOME = 0 0 0
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 1.2
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MAX_LINEAR_VELOCITY = 4
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NO_FORCE_HOMING = 1
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# Axes sections ---------------------------------------------------------------
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# First axis
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[EMCIO]
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# tool table file
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TOOL_TABLE = simpockets.tbl
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TOOL_CHANGE_POSITION = 0 0 2
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RANDOM_TOOLCHANGER = 1
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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[AXIS_X]
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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# Second axis
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[AXIS_Y]
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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# Third axis
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[AXIS_Z]
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MIN_LIMIT = -4.0
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MAX_LIMIT = 4.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -4.0
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MAX_LIMIT = 4.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 1.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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