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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 = $Revision$
- #+ Name of machine, for use with display, etc.
- MACHINE = Machine 5axes
- #+ 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]
- #+ Name of display program, e.g., xemc
- DISPLAY = axis
- # DISPLAY = usrmot
- # DISPLAY = mini
- # DISPLAY = tkemc
- # Cycle time, in seconds, that display will sleep between polls
- CYCLE_TIME = 0.200
- #- Path to help file
- HELP_FILE = tklinucnc.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 = /home/cnc/linuxcnc/nc_files
- #- Introductory graphic
- INTRO_GRAPHIC = linuxcnc.gif
- INTRO_TIME = 5
- ###############################################################################
- # 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 = 0.010
- ###############################################################################
- # Part program interpreter section
- ###############################################################################
- [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
- #- Interval between tries to emcmot, in seconds
- COMM_WAIT = 0.010
- #+ Base task period, in nanosecs - this is the fastest thread in the machine
- BASE_PERIOD = 22000
- #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
- SERVO_PERIOD = 1000000
- ###############################################################################
- # 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 = core_stepper.hal
- #HALFILE = xylotex_pinout.hal
- HALFILE = standard_pinout.hal
- #- list of halcmd commands to execute
- # commands are executed in the order in which they appear
- #HALCMD = save neta
- ###############################################################################
- # Trajectory planner section
- ###############################################################################
- [TRAJ]
- #+ machine specific settings
- AXES = 9
- COORDINATES = X Y Z B C W
- HOME = 0 0 0 0 0 0
- LINEAR_UNITS = mm
- ANGULAR_UNITS = degree
- CYCLE_TIME = 0.010
- DEFAULT_VELOCITY = 80
- MAX_LINEAR_VELOCITY = 180
- DEFAULT_ACCELERATION = 200
- MAX_ACCELERATION = 600
- ###############################################################################
- # Axes sections
- ###############################################################################
- [AXIS_0]
- TYPE = LINEAR
- HOME = 0#-650
- MAX_VELOCITY = 180
- MAX_ACCELERATION = 600
- STEPGEN_MAXACCEL = 720
- SCALE = 50.022737608
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -700
- MAX_LIMIT = 700
- HOME_OFFSET = 0 #-700
- #HOME_SEARCH_VEL = 20
- #HOME_LATCH_VEL = 10
- #HOME_FINAL_VEL = 40
- HOME_SEQUENCE = 1
- # axes Y
- [AXIS_1]
- TYPE = LINEAR
- HOME = 0#800
- MAX_VELOCITY = 180
- MAX_ACCELERATION = 600
- STEPGEN_MAXACCEL = 720
- SCALE = 50.022737608
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -850
- MAX_LIMIT = 850
- HOME_OFFSET = 0 #850
- #HOME_SEARCH_VEL = -20
- #HOME_LATCH_VEL = 10
- #HOME_FINAL_VEL = 40
- #HOME_SWITCH_POLARITY = 1
- HOME_SEQUENCE = 2
- # axes Z
- [AXIS_2]
- TYPE = LINEAR
- HOME = 0#700
- MAX_VELOCITY = 10
- MAX_ACCELERATION = 100
- STEPGEN_MAXACCEL = 150
- STEPGEN_MAXVEL = 22
- SCALE = 800
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -1000
- MAX_LIMIT = 750
- HOME_OFFSET = 0 #750
- #HOME_SEARCH_VEL = -20
- #HOME_LATCH_VEL = 10
- #HOME_FINAL_VEL = 10
- HOME_SEQUENCE = 0
- # axes A
- [AXIS_4]
- TYPE = ANGULAR
- HOME = 0.0
- MAX_VELOCITY = 10
- MAX_ACCELERATION = 200
- STEPGEN_MAXACCEL = 240
- #BACKLASH = 1
- SCALE = 322.283728814
- # calcul du scale
- #calcul de reduction *2 -Pi
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -110
- MAX_LIMIT = 110
- HOME_OFFSET = 0.0
- HOME_SEARCH_VEL = 0.0
- HOME_LATCH_VEL = 0.0
- HOME_USE_INDEX = NO
- HOME_IGNORE_LIMITS = NO
- HOME_SEQUENCE = 0
- # axes C
- [AXIS_5]
- TYPE = ANGULAR
- HOME = 0.0
- MAX_VELOCITY = 30
- MAX_ACCELERATION = 200
- STEPGEN_MAXACCEL = 240
- SCALE = 179.805
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -999999999999
- MAX_LIMIT = 999999999999
- HOME_OFFSET = 0.0
- HOME_SEARCH_VEL = 0.0
- HOME_LATCH_VEL = 0.0
- HOME_USE_INDEX = NO
- HOME_IGNORE_LIMITS = NO
- HOME_SEQUENCE = 0
- #longueur outils
- [AXIS_8]
- TYPE = LINEAR
- HOME = 0.000
- MAX_VELOCITY = 10
- MAX_ACCELERATION = 200
- INPUT_SCALE = 800
- OUTPUT_SCALE = 1.000
- MIN_LIMIT = -500
- MAX_LIMIT = 500.0
- FERROR = 1
- MIN_FERROR = 0.200
- HOME_OFFSET = 0.0
- HOME_SEARCH_VEL = 0.0
- HOME_LATCH_VEL = 0.0
- HOME_USE_INDEX = NO
- HOME_IGNORE_LIMITS = NO
- HOME_SEQUENCE = 0
- ###############################################################################
- # 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 = stepper.tbl
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