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config 5axes .ini

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Feb 5th, 2013
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  1. # EMC controller parameters for generic controller. Make these what you need
  2. # for your system.
  3.  
  4. # General note: Comments can either be preceded with a # or ; - either is
  5. # acceptable, although # is in keeping with most linux config files.
  6.  
  7. # Settings with a + at the front of the comment are likely needed to get
  8. # changed by the user.
  9. # Settings with a - at the front are highly unneeded to be changed
  10. ###############################################################################
  11. # General section
  12. ###############################################################################
  13. [EMC]
  14.  
  15. #- Version of this INI file
  16. VERSION =               $Revision$
  17.  
  18. #+ Name of machine, for use with display, etc.
  19. MACHINE =               Machine 5axes
  20.  
  21. #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  22. DEBUG = 0
  23. # DEBUG =               0x00000007
  24. # DEBUG =               0x7FFFFFFF
  25.  
  26. ###############################################################################
  27. # Sections for display options
  28. ###############################################################################
  29. [DISPLAY]
  30.  
  31. #+ Name of display program, e.g., xemc
  32. DISPLAY =              axis
  33. # DISPLAY =              usrmot
  34. # DISPLAY =              mini
  35. # DISPLAY =         tkemc
  36. # Cycle time, in seconds, that display will sleep between polls
  37. CYCLE_TIME =            0.200
  38.  
  39. #- Path to help file
  40. HELP_FILE =             tklinucnc.txt
  41.  
  42. #- Initial display setting for position, RELATIVE or MACHINE
  43. POSITION_OFFSET =       RELATIVE
  44.  
  45. #- Initial display setting for position, COMMANDED or ACTUAL
  46. POSITION_FEEDBACK =     ACTUAL
  47.  
  48. #+ Highest value that will be allowed for feed override, 1.0 = 100%
  49. MAX_FEED_OVERRIDE =     1.2
  50.  
  51. #- Prefix to be used
  52. PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
  53.  
  54. #- Introductory graphic
  55. INTRO_GRAPHIC =         linuxcnc.gif
  56. INTRO_TIME =            5
  57.  
  58.  
  59. ###############################################################################
  60. # Task controller section
  61. ###############################################################################
  62. [TASK]
  63.  
  64. # Name of task controller program, e.g., milltask
  65. TASK =                  milltask
  66.  
  67. #- Cycle time, in seconds, that task controller will sleep between polls
  68. CYCLE_TIME =            0.010
  69.  
  70. ###############################################################################
  71. # Part program interpreter section
  72. ###############################################################################
  73. [RS274NGC]
  74.  
  75. #- File containing interpreter variables
  76. PARAMETER_FILE =        stepper.var
  77.  
  78. ###############################################################################
  79. # Motion control section
  80. ###############################################################################
  81. [EMCMOT]
  82.  
  83. #- Name of the motion controller to use (only one exists for nontrivkins)
  84. EMCMOT =              motmod
  85.  
  86. #- Timeout for comm to emcmot, in seconds
  87. COMM_TIMEOUT =          1.0
  88.  
  89. #- Interval between tries to emcmot, in seconds
  90. COMM_WAIT =             0.010
  91.  
  92. #+ Base task period, in nanosecs - this is the fastest thread in the machine
  93. BASE_PERIOD =                22000
  94. #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
  95. SERVO_PERIOD =               1000000
  96.  
  97. ###############################################################################
  98. # Hardware Abstraction Layer section
  99. ###############################################################################
  100. [HAL]
  101.  
  102. # The run script first uses halcmd to execute any HALFILE
  103. # files, and then to execute any individual HALCMD commands.
  104. #
  105.  
  106. # list of hal config files to run through halcmd
  107. #+ files are executed in the order in which they appear
  108. HALFILE =                    core_stepper.hal
  109. #HALFILE =                    xylotex_pinout.hal
  110. HALFILE =                    standard_pinout.hal
  111.  
  112. #- list of halcmd commands to execute
  113. # commands are executed in the order in which they appear
  114. #HALCMD =                    save neta
  115.  
  116. ###############################################################################
  117. # Trajectory planner section
  118. ###############################################################################
  119. [TRAJ]
  120. #+ machine specific settings
  121. AXES =                  9
  122. COORDINATES =           X Y Z B C W
  123. HOME =                  0 0 0 0 0 0
  124. LINEAR_UNITS =          mm
  125. ANGULAR_UNITS =         degree
  126. CYCLE_TIME =            0.010
  127. DEFAULT_VELOCITY =      80
  128. MAX_LINEAR_VELOCITY =   180
  129. DEFAULT_ACCELERATION =  200
  130. MAX_ACCELERATION =      600
  131.  
  132.  
  133. ###############################################################################
  134. # Axes sections
  135. ###############################################################################
  136.  
  137. [AXIS_0]
  138. TYPE =              LINEAR
  139. HOME =              0#-650
  140. MAX_VELOCITY =          180
  141. MAX_ACCELERATION =      600
  142. STEPGEN_MAXACCEL =      720
  143. SCALE =             50.022737608    
  144. FERROR =            1
  145. MIN_FERROR =            .25
  146. MIN_LIMIT =             -700
  147. MAX_LIMIT =             700
  148. HOME_OFFSET =                   0  #-700
  149. #HOME_SEARCH_VEL =               20
  150. #HOME_LATCH_VEL =                10
  151. #HOME_FINAL_VEL =       40
  152. HOME_SEQUENCE =                 1
  153.  
  154. # axes Y
  155.  
  156. [AXIS_1]
  157. TYPE =              LINEAR
  158. HOME =              0#800
  159. MAX_VELOCITY =          180
  160. MAX_ACCELERATION =      600
  161. STEPGEN_MAXACCEL =      720
  162. SCALE =             50.022737608
  163. FERROR =            1
  164. MIN_FERROR =            .25
  165. MIN_LIMIT =             -850
  166. MAX_LIMIT =             850
  167. HOME_OFFSET =                   0  #850
  168. #HOME_SEARCH_VEL =               -20
  169. #HOME_LATCH_VEL =                10
  170. #HOME_FINAL_VEL =       40
  171. #HOME_SWITCH_POLARITY =         1
  172. HOME_SEQUENCE =                 2
  173.  
  174. # axes Z
  175.  
  176. [AXIS_2]
  177. TYPE =              LINEAR
  178. HOME =              0#700
  179. MAX_VELOCITY =          10
  180. MAX_ACCELERATION =      100
  181. STEPGEN_MAXACCEL =      150
  182. STEPGEN_MAXVEL =        22
  183. SCALE =             800
  184. FERROR =            1
  185. MIN_FERROR =            .25
  186. MIN_LIMIT =             -1000
  187. MAX_LIMIT =             750
  188. HOME_OFFSET =                   0  #750
  189. #HOME_SEARCH_VEL =               -20
  190. #HOME_LATCH_VEL =                10
  191. #HOME_FINAL_VEL =       10
  192. HOME_SEQUENCE =                 0
  193.  
  194. # axes A
  195.  
  196. [AXIS_4]
  197. TYPE =              ANGULAR
  198. HOME =              0.0
  199. MAX_VELOCITY =          10
  200. MAX_ACCELERATION =      200
  201. STEPGEN_MAXACCEL =      240
  202. #BACKLASH =         1
  203. SCALE =             322.283728814
  204. # calcul du scale
  205. #calcul de reduction *2 -Pi
  206. FERROR =            1
  207. MIN_FERROR =            .25
  208. MIN_LIMIT =             -110
  209. MAX_LIMIT =             110
  210. HOME_OFFSET =                   0.0
  211. HOME_SEARCH_VEL =               0.0
  212. HOME_LATCH_VEL =                0.0
  213. HOME_USE_INDEX =                NO
  214. HOME_IGNORE_LIMITS =            NO
  215. HOME_SEQUENCE =                 0
  216.  
  217.  
  218.  
  219. # axes C
  220.  
  221. [AXIS_5]
  222. TYPE =              ANGULAR
  223. HOME =              0.0
  224. MAX_VELOCITY =          30
  225. MAX_ACCELERATION =      200
  226. STEPGEN_MAXACCEL =      240
  227. SCALE =             179.805
  228. FERROR =            1
  229. MIN_FERROR =            .25
  230. MIN_LIMIT =             -999999999999
  231. MAX_LIMIT =             999999999999
  232. HOME_OFFSET =                   0.0
  233. HOME_SEARCH_VEL =               0.0
  234. HOME_LATCH_VEL =                0.0
  235. HOME_USE_INDEX =                NO
  236. HOME_IGNORE_LIMITS =            NO
  237. HOME_SEQUENCE =                 0
  238.  
  239. #longueur outils
  240.  
  241. [AXIS_8]
  242. TYPE =                          LINEAR
  243. HOME =                          0.000
  244. MAX_VELOCITY =                  10
  245. MAX_ACCELERATION =              200
  246. INPUT_SCALE =                   800
  247. OUTPUT_SCALE =                  1.000
  248. MIN_LIMIT =                     -500
  249. MAX_LIMIT =                     500.0
  250. FERROR =                        1
  251. MIN_FERROR =                    0.200
  252. HOME_OFFSET =                   0.0
  253. HOME_SEARCH_VEL =               0.0
  254. HOME_LATCH_VEL =                0.0
  255. HOME_USE_INDEX =                NO
  256. HOME_IGNORE_LIMITS =            NO
  257. HOME_SEQUENCE =                 0
  258.  
  259. ###############################################################################
  260. # section for main IO controller parameters
  261. ###############################################################################
  262. [EMCIO]
  263.  
  264. #- Name of IO controller program, e.g., io
  265. EMCIO =         io
  266.  
  267. #- cycle time, in seconds
  268. CYCLE_TIME =            0.100
  269.  
  270. #- tool table file
  271. TOOL_TABLE =            stepper.tbl
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