231 lines
5.1 KiB
INI
231 lines
5.1 KiB
INI
# EMC controller parameters for a simulated machine.
|
|
|
|
# General note: Comments can either be preceded with a # or ; - either is
|
|
# acceptable, although # is in keeping with most linux config files.
|
|
|
|
# General section -------------------------------------------------------------
|
|
[EMC]
|
|
|
|
# Version of this INI file
|
|
VERSION = 1.1
|
|
|
|
# Name of machine, for use with display, etc.
|
|
MACHINE = LinuxCNC-HAL-SIM-AXIS
|
|
|
|
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
|
#DEBUG = 0x7FFFFFFF
|
|
DEBUG = 0
|
|
|
|
# Sections for display options ------------------------------------------------
|
|
[DISPLAY]
|
|
|
|
# Name of display program, e.g., axis
|
|
DISPLAY = axis
|
|
|
|
# Cycle time, in seconds, that display will sleep between polls
|
|
CYCLE_TIME = 0.100
|
|
|
|
# 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
|
|
MAX_SPINDLE_OVERRIDE = 1.0
|
|
|
|
MAX_LINEAR_VELOCITY = 5
|
|
DEFAULT_LINEAR_VELOCITY = .25
|
|
DEFAULT_SPINDLE_SPEED = 200
|
|
# Prefix to be used
|
|
PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
|
|
|
|
# Introductory graphic
|
|
INTRO_GRAPHIC = linuxcnc.gif
|
|
INTRO_TIME = 5
|
|
|
|
#EDITOR = geany
|
|
TOOL_EDITOR = tooledit
|
|
|
|
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
|
|
|
|
[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 controller 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 = 0.001
|
|
|
|
# Part program interpreter section --------------------------------------------
|
|
[RS274NGC]
|
|
|
|
# File containing interpreter variables
|
|
PARAMETER_FILE = sim.var
|
|
|
|
# Motion control section ------------------------------------------------------
|
|
[EMCMOT]
|
|
|
|
EMCMOT = motmod
|
|
|
|
# Timeout for comm to emcmot, in seconds
|
|
COMM_TIMEOUT = 1.0
|
|
|
|
# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
|
|
BASE_PERIOD = 0
|
|
# Servo task period, in nano-seconds
|
|
SERVO_PERIOD = 1000000
|
|
|
|
# section for main IO controller parameters -----------------------------------
|
|
[EMCIO]
|
|
|
|
# Name of IO controller program, e.g., io
|
|
EMCIO = io
|
|
|
|
# cycle time, in seconds
|
|
CYCLE_TIME = 0.100
|
|
|
|
# tool table file
|
|
TOOL_TABLE = sim.tbl
|
|
TOOL_CHANGE_POSITION = 0 0 0
|
|
TOOL_CHANGE_QUILL_UP = 1
|
|
|
|
# Hardware Abstraction Layer 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 = e3000.hal
|
|
#HALFILE = core_sim.hal
|
|
#HALFILE = sim_spindle_encoder.hal
|
|
#HALFILE = axis_manualtoolchange.hal
|
|
#HALFILE = simulated_home.hal
|
|
#HALFILE = check_xyz_constraints.hal
|
|
#HALFILE = cooling.hal
|
|
|
|
# list of halcmd commands to execute
|
|
# commands are executed in the order in which they appear
|
|
#HALCMD = save neta
|
|
|
|
# Single file that is executed after the GUI has started. Only supported by
|
|
# AXIS at this time (only AXIS creates a HAL component of its own)
|
|
#POSTGUI_HALFILE = test_postgui.hal
|
|
|
|
HALUI = halui
|
|
|
|
# Trajectory planner section --------------------------------------------------
|
|
[TRAJ]
|
|
COORDINATES = X Y Z
|
|
LINEAR_UNITS = inch
|
|
ANGULAR_UNITS = degree
|
|
MAX_LINEAR_VELOCITY = 4
|
|
DEFAULT_LINEAR_ACCELERATION = 100
|
|
MAX_LINEAR_ACCELERATION = 100
|
|
POSITION_FILE = position.txt
|
|
|
|
[KINS]
|
|
KINEMATICS = trivkins
|
|
JOINTS = 3
|
|
|
|
# Axes sections ---------------
|
|
[AXIS_X]
|
|
MAX_VELOCITY = 4
|
|
MAX_ACCELERATION = 100.0
|
|
MIN_LIMIT = -10.0
|
|
MAX_LIMIT = 10.0
|
|
|
|
[AXIS_Y]
|
|
MAX_VELOCITY = 4
|
|
MAX_ACCELERATION = 100.0
|
|
MIN_LIMIT = -10.0
|
|
MAX_LIMIT = 10.0
|
|
|
|
[AXIS_Z]
|
|
MAX_VELOCITY = 4
|
|
MAX_ACCELERATION = 100.0
|
|
MIN_LIMIT = -8.0
|
|
MAX_LIMIT = 0.12
|
|
|
|
# Joints sections -------------
|
|
[JOINT_0]
|
|
TYPE = LINEAR
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 50.0
|
|
BACKLASH = 0.000
|
|
INPUT_SCALE = 4000
|
|
OUTPUT_SCALE = 1.000
|
|
FERROR = 0.050
|
|
MIN_FERROR = 0.010
|
|
MIN_LIMIT = -10.0
|
|
MAX_LIMIT = 10.0
|
|
HOME_OFFSET = 0.0
|
|
HOME_SEARCH_VEL = 0
|
|
HOME_LATCH_VEL = 0
|
|
HOME_USE_INDEX = YES
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = 1
|
|
HOME_IS_SHARED = 1
|
|
|
|
[JOINT_1]
|
|
TYPE = LINEAR
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 50.0
|
|
BACKLASH = 0.000
|
|
INPUT_SCALE = 4000
|
|
OUTPUT_SCALE = 1.000
|
|
FERROR = 0.050
|
|
MIN_FERROR = 0.010
|
|
MIN_LIMIT = -10.0
|
|
MAX_LIMIT = 10.0
|
|
HOME_OFFSET = 0.0
|
|
HOME_SEARCH_VEL = 0
|
|
HOME_LATCH_VEL = 0
|
|
HOME_USE_INDEX = YES
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = 1
|
|
|
|
[JOINT_2]
|
|
TYPE = LINEAR
|
|
HOME = 0.0
|
|
MAX_VELOCITY = 5
|
|
MAX_ACCELERATION = 50.0
|
|
BACKLASH = 0.000
|
|
INPUT_SCALE = 4000
|
|
OUTPUT_SCALE = 1.000
|
|
MIN_LIMIT = -8.0
|
|
|
|
# Normally the Z max should be 0.000!
|
|
# The only reason it's greater than 0 here is so that the splash screen
|
|
# gcode will run.
|
|
MAX_LIMIT = 0.12
|
|
|
|
FERROR = 0.50
|
|
MIN_FERROR = 0.10
|
|
HOME_OFFSET = 1.0
|
|
HOME_SEARCH_VEL = 0
|
|
HOME_LATCH_VEL = 0.0
|
|
HOME_USE_INDEX = YES
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = 0
|
|
HOME_IS_SHARED = 1
|