128 lines
3.1 KiB
INI
128 lines
3.1 KiB
INI
[EMC]
|
|
VERSION = 1.1
|
|
MACHINE = LATHE-PLUTO
|
|
DEBUG = 0
|
|
|
|
[DISPLAY]
|
|
PYVCP = vcp.xml
|
|
DISPLAY = axis
|
|
LATHE = 1
|
|
CYCLE_TIME = 0.200
|
|
POSITION_OFFSET = RELATIVE
|
|
POSITION_FEEDBACK = ACTUAL
|
|
MAX_FEED_OVERRIDE = 1.5
|
|
PROGRAM_PREFIX = ../../nc_files/
|
|
# Editor to be used with Axis
|
|
#EDITOR = geany
|
|
|
|
[FILTER]
|
|
PROGRAM_EXTENSION = .py Python Script
|
|
PROGRAM_EXTENSION = .NGC rs274ngc files
|
|
py = python3
|
|
|
|
[RS274NGC]
|
|
PARAMETER_FILE = emc.var
|
|
|
|
[EMCMOT]
|
|
EMCMOT = motmod
|
|
COMM_TIMEOUT = 1.0
|
|
SERVO_PERIOD = 500000
|
|
|
|
[TASK]
|
|
TASK = milltask
|
|
CYCLE_TIME = 0.001
|
|
|
|
[HAL]
|
|
HALFILE = lathe-pluto.hal
|
|
HALFILE = axis_manualtoolchange.hal
|
|
POSTGUI_HALFILE = postgui.hal
|
|
|
|
[HALUI]
|
|
#No Content
|
|
|
|
[TRAJ]
|
|
COORDINATES = X Z
|
|
HOME = 0 0 0
|
|
LINEAR_UNITS = mm
|
|
ANGULAR_UNITS = deg
|
|
DEFAULT_LINEAR_VELOCITY = 10
|
|
MAX_LINEAR_VELOCITY = 32.5
|
|
DEFAULT_LINEAR_ACCELERATION = 400
|
|
MAX_LINEAR_ACCELERATION = 707
|
|
|
|
[EMCIO]
|
|
TOOL_TABLE = emc.tbl
|
|
TOOL_CHANGE_POSITION = 40 0 20
|
|
|
|
[KINS]
|
|
KINEMATICS = trivkins
|
|
JOINTS = 3
|
|
|
|
[AXIS_X]
|
|
MIN_LIMIT = -10.0
|
|
MAX_LIMIT = 40.50001
|
|
MAX_VELOCITY = 23
|
|
MAX_ACCELERATION = 500
|
|
|
|
[JOINT_0]
|
|
TYPE = LINEAR
|
|
UNITS = 1.0
|
|
HOME = 40.5
|
|
MAX_VELOCITY = 23
|
|
MAX_ACCELERATION = 500
|
|
BACKLASH = 0.06
|
|
CYCLE_TIME = 0.001000
|
|
INPUT_SCALE = 6000
|
|
OUTPUT_SCALE = 1.000
|
|
MIN_LIMIT = -10.0
|
|
MAX_LIMIT = 40.50001
|
|
FERROR = .1
|
|
MIN_FERROR = .03
|
|
HOME_OFFSET = 41.14
|
|
HOME_SEARCH_VEL = 12
|
|
HOME_LATCH_VEL = -0.2
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = YES
|
|
P = 1000
|
|
I = 30000
|
|
D = 7
|
|
BIAS = 0
|
|
FF0 = 0
|
|
FF1 = 1
|
|
FF2 = 0.025
|
|
DEADBAND=.00009
|
|
|
|
[AXIS_Z]
|
|
MIN_LIMIT = -1.0
|
|
MAX_LIMIT = 90.0
|
|
MAX_VELOCITY = 23
|
|
MAX_ACCELERATION = 500
|
|
|
|
[JOINT_2]
|
|
TYPE = LINEAR
|
|
UNITS = 1.0
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 23
|
|
MAX_ACCELERATION = 500
|
|
BACKLASH = 0.00
|
|
CYCLE_TIME = 0.001000
|
|
INPUT_SCALE = -6000
|
|
OUTPUT_SCALE = 1.000
|
|
MIN_LIMIT = -1.0
|
|
MAX_LIMIT = 90.0
|
|
FERROR = 0.35
|
|
MIN_FERROR = 0.20
|
|
HOME_OFFSET = 0.0
|
|
HOME_SEARCH_VEL = 0.0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_USE_INDEX = NO
|
|
HOME_IGNORE_LIMITS = NO
|
|
P = 1000
|
|
I = 30000
|
|
D = 7
|
|
BIAS = 0
|
|
FF0 = 0
|
|
FF1 = 1
|
|
FF2 = 0.025
|
|
DEADBAND=.00009
|