# EMC controller parameters for a simulated puma 560 robot

# 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

###############################################################################
# Hostmot section
###############################################################################

[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i22
CONFIG="firmware=hm2/5i22/SVST8_8S.BIT num_encoders=8 num_pwmgens=8 num_stepgens=0"




###############################################################################
# General section
###############################################################################

# General section -------------------------------------------------------------
[EMC]

#- Version of this INI file
VERSION =               $Revision$

#+ Name of machine, for use with display, etc.
MACHINE =               Robby_1_Puma560

#+ 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 =       MACHINE

#- 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 =     2.0

#+ Prefix to be used
PROGRAM_PREFIX = /home/andreas/linuxcnc/nc_files

#- Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PYVCP = puma.xml

# Editor to be used with Axis
EDITOR = gedit

###############################################################################
# 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 =        puma.var

###############################################################################
# Motion control section
###############################################################################
[EMCMOT]

EMCMOT =              motmod

#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

#- Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

#- Servo task period, in nanoseconds
SERVO_PERIOD =               200000
#- Trajectory Planner task period, in nanoseconds - will be rounded to an
#   integer multiple of SERVO_PERIOD
TRAJ_PERIOD =                10000000

###############################################################################
# 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 =                    puma560_sim_6.hal
POSTGUI_HALFILE =            puma560_postgui.hal

#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta

#load halui to enable
HALUI =                      halui

###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =                  6
COORDINATES =           X Y Z A B C
HOME = 			0 0 0 0 90 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         deg
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      1.0
MAX_VELOCITY =          10.0
DEFAULT_ACCELERATION =  10.0
MAX_ACCELERATION =      20.0
NO_FORCE_HOMING = 	1
#fixme

###############################################################################
# Axes sections
###############################################################################
#fixme ... all axis max acceleration
#fixme ... all axis max velocity
#fixme ... all axis software endstops +/-
#fixme ... all axis hardware endstops +/-

#+ First axis
[AXIS_0]
TYPE =                          ANGULAR
HOME =                          0.000
MAX_VELOCITY =                  30.0
MAX_ACCELERATION =              200.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -180.0
MAX_LIMIT =                     180.0
FERROR =                        2.000
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

#+ Second axis
[AXIS_1]
TYPE =                          ANGULAR
HOME =                          0.000
MAX_VELOCITY =                  30.0
MAX_ACCELERATION =              200.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -360.0
MAX_LIMIT =                     360.0
FERROR =                        2.000
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

#+ Third axis
[AXIS_2]
TYPE =                          ANGULAR
HOME =                          0.000
MAX_VELOCITY =                  30.0
MAX_ACCELERATION =              200.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -215.0
MAX_LIMIT =                     35.0
FERROR =                        2.000
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

#+ Fourth axis
[AXIS_3]
TYPE =                          ANGULAR
HOME =                          0.000
MAX_VELOCITY =                  30.0
MAX_ACCELERATION =              200.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -360.0
MAX_LIMIT =                     360.0
FERROR =                        2.000
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

#+ Fifth axis
[AXIS_4]
TYPE =                          ANGULAR
HOME =                          90.000
MAX_VELOCITY =                  30.0
MAX_ACCELERATION =              200.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -360.0
MAX_LIMIT =                     360.0
FERROR =                        2.000
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

#+ Sixth axis
[AXIS_5]
TYPE =                          ANGULAR
HOME =                          0.000
MAX_VELOCITY =                  30.0
MAX_ACCELERATION =              200.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -360.0
MAX_LIMIT =                     360.0
FERROR =                        2.000
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 =                    puma.tbl