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[EMC]
VERSION = 1.1
MACHINE = LinuxCNC-sim-9axis
DEBUG = 0
[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
#EDITOR = geany
INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
GEOMETRY = XYZABCUVW
[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]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
PARAMETER_FILE = sim-9axis.var
[EMCMOT]
# joint4 is locked rotary
# create hal pins: joint4.unlock, joint.4.is-locked
# JOINTS_AXES specify joint4 with mask:
EMCMOT = motmod unlock_joints_mask=0x10
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 2
[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = locking_indexer.hal
[TRAJ]
COORDINATES = X Y Z A B C U V W
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.0
DEFAULT_LINEAR_ACCELERATION = 20.0
DEFAULT_ANGULAR_VELOCITY = 45.0
MAX_LINEAR_VELOCITY = 1.2
MAX_LINEAR_ACCELERATION = 20.0
MAX_ANGULAR_VELOCITY = 90.0
POSITION_FILE = position9.txt
[KINS]
KINEMATICS = trivkins
JOINTS = 9
[AXIS_X]
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
[AXIS_Y]
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
[AXIS_Z]
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
[AXIS_A]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[AXIS_B]
# JOINTS_AXES specify the joint number
# JOINTS_AXES also mask: motmod unlock_joints_mask=0x10
LOCKING_INDEXER_JOINT = 4
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[AXIS_C]
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[AXIS_U]
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
[AXIS_V]
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
[AXIS_W]
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_SEQUENCE = 1
HOME_USE_INDEX = 1
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_SEQUENCE = 1
HOME_USE_INDEX = 1
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_SEQUENCE = 0
HOME_USE_INDEX = 1
[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 1
[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 1
# joints_axes: for homing
LOCKING_INDEXER = 1
[JOINT_5]
TYPE = ANGULAR
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 1
[JOINT_6]
TYPE = LINEAR
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
[JOINT_7]
TYPE = LINEAR
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
[JOINT_8]
TYPE = LINEAR
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
|
