hexapod.ini

# HEXAPOD INI FILE for step/dir mode DMM servos
# V 0.3

[EMC]
MACHINE = hexapod
DEBUG = 0

[DISPLAY]
DISPLAY = tkemc
#DISPLAY = axis
CYCLE_TIME = 0.100
EDITOR = gedit
POSITION_OFFSET = RELATIVE
#POSITION_FEEDBACK = ACTUAL
POSITION_FEEDBACK = COMMANDED
MAX_FEED_OVERRIDE = 1.25
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0.1
PROGRAM_PREFIX = /home/pkm/emc2/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = hexapod.var

[EMCMOT]
EMCMOT       = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT    = 0.010
BASE_PERIOD  = 25000
SERVO_PERIOD = 1000000
TRAJ_PERIOD  = 10000000

[HAL]
HALFILE = hexapod.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 6
COORDINATES = X Y Z A B C
HOME = 0 0 0 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
#MAX_ANGULAR_VELOCITY = 20.00
#DEFAULT_ANGULAR_VELOCITY = 10.00
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 20.00
MAX_LINEAR_VELOCITY = 50.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_0]
TYPE = 				LINEAR
HOME = 				948.4856
MAX_VELOCITY = 			150.0
MAX_ACCELERATION = 		500.0
STEPGEN_MAXACCEL = 		750.0
SCALE = 			200.0
FERROR = 			1
MIN_FERROR = 			.25
MIN_LIMIT = 			500.0
MAX_LIMIT = 			1360.0
HOME_OFFSET = 			948.4856
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

[AXIS_1]
TYPE = 				LINEAR
HOME = 				948.9969
MAX_VELOCITY = 			150.0
MAX_ACCELERATION = 		500.0
STEPGEN_MAXACCEL = 		750.0
SCALE = 			200.0
FERROR = 			1
MIN_FERROR = 			.25
MIN_LIMIT = 			500.0
MAX_LIMIT = 			1360.0
HOME_OFFSET = 			948.9969
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

[AXIS_2]
TYPE = 				LINEAR
HOME = 				947.8497
MAX_VELOCITY = 			150.0
MAX_ACCELERATION = 		500.0
STEPGEN_MAXACCEL = 		750.0
SCALE = 			200.0
FERROR = 			1
MIN_FERROR = 			.25
MIN_LIMIT = 			500.0
MAX_LIMIT = 			1360.0
HOME_OFFSET = 			947.8497
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

[AXIS_3]
TYPE = 				LINEAR
HOME = 				947.8497
MAX_VELOCITY = 			150.0
MAX_ACCELERATION = 		500.0
STEPGEN_MAXACCEL = 		750.0
SCALE = 			200.0
FERROR = 			1
MIN_FERROR = 			.25
MIN_LIMIT = 			500.0
MAX_LIMIT = 			1360.0
HOME_OFFSET = 			947.8497
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

[AXIS_4]
TYPE = 				LINEAR
HOME = 				948.9969
MAX_VELOCITY = 			150.0
MAX_ACCELERATION = 		500.0
STEPGEN_MAXACCEL = 		750.0
SCALE = 			200.0
FERROR = 			1
MIN_FERROR = 			.25
MIN_LIMIT = 			500.0
MAX_LIMIT = 			1360.0
HOME_OFFSET = 			948.9969
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

[AXIS_5]
TYPE = 				LINEAR
HOME = 				948.4856
MAX_VELOCITY = 			150.0
MAX_ACCELERATION = 		500.0
STEPGEN_MAXACCEL = 		750.0
SCALE = 			200.0
FERROR = 			1
MIN_FERROR = 			.25
MIN_LIMIT = 			350.0
MAX_LIMIT = 			1360.0
HOME_OFFSET = 			948.4856
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO