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# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# Settings with a + at the front of the comment are likely needed to get
# changed by the user.
# Settings with a - at the front are highly unneeded to be changed
###############################################################################
# General section
###############################################################################
[EMC]
#- Version of this INI file
VERSION = 1.1
#+ Name of machine, for use with display, etc.
MACHINE = LinuxCNC-HAL-STEP-PLUTO
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
#- Path to help file
HELP_FILE = doc/help.txt
#- Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
#- Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
#+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
#- Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
#- Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# Editor to be used with Axis
#EDITOR = geany
###############################################################################
# Task controller section
###############################################################################
[FILTER]
#No Content
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = stepper.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT = motmod
#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
#- Servo task period, in nanosecs
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 = 0.010
###############################################################################
# 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 = pluto_pinout.hal
HALFILE =
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
###############################################################################
# Trajectory planner section
###############################################################################
[HALUI]
#No Content
[TRAJ]
#+ machine specific settings
# COORDINATES = X Y Z A B C
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.2
MAX_LINEAR_VELOCITY = 1.2
DEFAULT_LINEAR_ACCELERATION = 15.0
MAX_LINEAR_ACCELERATION = 20.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[EMCIO]
#- Name of IO controller program, e.g., io
EMCIO = io
#- cycle time, in seconds
CYCLE_TIME = 0.100
#- tool table file
TOOL_TABLE = stepper.tbl
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = .5667
MAX_ACCELERATION = 20.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = .5667
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
SCALE = 6400
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
#+ Second axis
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = .5667
MAX_ACCELERATION = 20.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = .5667
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
SCALE = 6400
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
#+ Third axis
[AXIS_Z]
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
MAX_VELOCITY = .3667
MAX_ACCELERATION = 15.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = .3667
MAX_ACCELERATION = 15.0
BACKLASH = 0.000
SCALE = 8000
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
###############################################################################
# section for main IO controller parameters
###############################################################################
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