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  1. # EMC controller parameters for UPC with threading and pendant
  2.  
  3. # General note: Comments can either be preceded with a # or ; - either is
  4. # acceptable, although # is in keeping with most linux config files.
  5.  
  6.  
  7. # General section -------------------------------------------------------------
  8. [EMC]
  9.  
  10. # Version of this INI file
  11. VERSION = $Revision: 1.6 $
  12.  
  13. # Name of machine, for use with display, etc.
  14. MACHINE = 5-AXIS LinuxCNC
  15.  
  16. # Name of NML file to use, default is emc.nml
  17. #NML_FILE = emc.nml
  18. MDI_COMMAND = o<zero-z-axis>call
  19. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  20. DEBUG = 0x00000001
  21. # DEBUG = 0x00000007
  22. # DEBUG = 0x7FFFFFFF
  23.  
  24. # Sections for display options ------------------------------------------------
  25. [DISPLAY]
  26.  
  27. # Name of display program, e.g., xemc
  28. DISPLAY = axis
  29. #DISPLAY = axis-2.6pre-mod
  30. CYCLE_TIME = 0.100
  31.  
  32. # Path to help file
  33. HELP_FILE = doc/help.txt
  34.  
  35. # Initial display setting for position, RELATIVE or MACHINE
  36. POSITION_OFFSET = RELATIVE
  37.  
  38. # Initial display setting for position, COMMANDED or ACTUAL
  39. POSITION_FEEDBACK = ACTUAL
  40.  
  41. # Highest value that will be allowed for feed override, 1.0 = 100%
  42. MAX_FEED_OVERRIDE = 1.2
  43.  
  44. # Prefix to be used
  45. PROGRAM_PREFIX = /home/tomaz/linuxcnc/nc_files
  46.  
  47. # Introductory graphic
  48. INTRO_GRAPHIC = linuxcnc.gif
  49. INTRO_TIME = 2
  50.  
  51. # Enable popup balloon help
  52. BALLOON_HELP = 1
  53.  
  54. #DEFAULT_LINEAR_VELOCITY = 25
  55. #MIN_VELOCITY = 1
  56. #MAX_LINEAR_VELOCITY = 40
  57. #MIN_LINEAR_VELOCITY = 1
  58. #DEFAULT_ANGULAR_VELOCITY = 5
  59. #MIN_ANGULAR_VELOCITY = 1
  60. #MAX_ANGULAR_VELOCITY = 15
  61. INCREMENTS = 1mm 10mm 100mm
  62. PYVCP = custom.xml
  63. GEOMETRY = XYZBC
  64. EDITOR = gedit
  65. #GLADEVCP = -u handler.py mypanel.ui
  66.  
  67. [FILTER]
  68. PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
  69. PROGRAM_EXTENSION = .py Python Script
  70. png = image-to-gcode
  71. gif = image-to-gcode
  72. jpg = image-to-gcode
  73. py = python
  74.  
  75. # Task controller section -----------------------------------------------------
  76. [TASK]
  77.  
  78. # Name of task controller program, e.g., bridgeporttask
  79. TASK = milltask
  80.  
  81. # Cycle time, in seconds, that task controller will sleep between polls
  82. CYCLE_TIME = 0.010
  83.  
  84. # Part program interpreter section --------------------------------------------
  85. [RS274NGC]
  86.  
  87. # File containing interpreter variables
  88. PARAMETER_FILE = my5axis.var
  89.  
  90. # Motion control section ------------------------------------------------------
  91. [EMCMOT]
  92.  
  93. EMCMOT = motmod
  94.  
  95. # Key for real OS shared memory, e.g., for simulated motion
  96. SHMEM_KEY = 111
  97.  
  98. # Timeout for comm to emcmot, in seconds
  99. COMM_TIMEOUT = 1.0
  100.  
  101. # Interval between tries to emcmot, in seconds
  102. COMM_WAIT = 0.010
  103.  
  104. # Base task period, in nanoseconds - this is the fastest thread in the machine
  105. BASE_PERIOD = 30000
  106. # Servo task period, in nanoseconds - will be rounded to an integer multiple
  107. # of BASE_PERIOD
  108. SERVO_PERIOD = 1000000
  109. # Trajectory Planner task period, in nanoseconds - will be rounded to an
  110. # integer multiple of SERVO_PERIOD
  111. TRAJ_PERIOD = 1000000
  112.  
  113. # Hardware Abstraction Layer section --------------------------------------------------
  114.  
  115. [HALUI]
  116. MDI_COMMAND = o<to-work-home> call
  117. MDI_COMMAND = o<to-machine-home> call
  118. MDI_COMMAND = o<izmera> call
  119. MDI_COMMAND = o<tool1> call
  120. MDI_COMMAND = ...
  121. MDI_COMMAND = o<to-safe-z>call
  122. MDI_COMMAND = G0 X0
  123. MDI_COMMAND = G0 Y0
  124. MDI_COMMAND = G0 Z0
  125. MDI_COMMAND = G0 X0 Y0
  126. MDI_COMMAND = o<to-work-home> call
  127. MDI_COMMAND = o<to-machine-home> call
  128. MDI_COMMAND = o<zero-x-axis>call
  129. MDI_COMMAND = o<zero-y-axis>call
  130. MDI_COMMAND = o<zero-z-axis>call
  131. MDI_COMMAND = o<spindle-to-16000rpm>call
  132. MDI_COMMAND = o<zero-y-axis>call
  133. MDI_COMMAND = o<zero-z-axis>call
  134.  
  135. [HAL]
  136.  
  137. # The run script first uses halcmd to execute any HALFILE
  138. # files, and then to execute any individual HALCMD commands.
  139. #
  140.  
  141. # list of hal config files to run through halcmd
  142. # files are executed in the order in which they appear
  143. HALFILE = my5axis_load.hal
  144. HALFILE = my5axis_servo.hal
  145. HALFILE = my5axis_io.hal
  146. HALFILE = my5axis_motion.hal
  147. #HALFILE = xhc-hb04-world-mode.hal
  148. #HALFILE = xhc-hb04.hal
  149. POSTGUI_HALFILE = custom.hal
  150. HALUI = halui
  151.  
  152.  
  153. # list of halcmd commands to execute
  154. # commands are executed in the order in which they appear
  155. #HALCMD = save neta
  156.  
  157. # Trajectory planner section --------------------------------------------------
  158. [TRAJ]
  159.  
  160. AXES = 9
  161. COORDINATES = X Y Z B C U W
  162. HOME = 0 0 0 0 0 0 0
  163. LINEAR_UNITS = mm
  164. ANGULAR_UNITS = degree
  165. CYCLE_TIME = 0.010
  166. DEFAULT_VELOCITY = 50
  167. MAX_VELOCITY = 90
  168. DEFAULT_ACCELERATION = 90
  169. MAX_ACCELERATION = 100
  170. PROBE_INDEX = 0
  171. PROBE_POLARITY = 1
  172.  
  173. # Axes sections ---------------------------------------------------------------
  174.  
  175. # Important note about OUTPUT_SCALE and PWM_OUTPUT_SCALE
  176. # For this configuration, OUTPUT_SCALE is not used, because
  177. # EMC always overwrites it on shutdown. So PWM_OUTPUT_SCALE
  178. # was added to hold the scaling. Someday the OUTPUT_SCALE
  179. # issue may be fixed, and PWM_OUTPUT_SCALE will go away.
  180.  
  181. # Scaling: The PWM_OUTPUT_SCALE should be the speed
  182. # in UNITS/second (inches/sec or mm/sec) that would be
  183. # reached if the PWM duty cycle was 100%. It depends on
  184. # the power supply voltage, motor RPM/Volt factor, and
  185. # gearing/screw pitch. For example:
  186. #
  187. # Power supply voltage 50V
  188. # Motor RPM/V 1000RPM/24V
  189. # Gearing: 2 motor revs per 1 screw rev
  190. # Screw pitch: 0.2" per turn
  191. #
  192. # Max motor speed = 50V * 1000RPM/24V = 2083 RPM
  193. # Max screw speed = 2083RPM * 1(screw)/2(motor) = 1041RPM
  194. # Max table speed = 1041RPM * 0.2"/turn = 208 in/min
  195. # Max table speed = 208 in/min / 60 seconds = 3.47 inches/sec
  196. #
  197. # Since max speed is reached at 100% duty cycle, PWM_OUTPUT_SCALE
  198. # should be 3.47
  199.  
  200. #X
  201. [AXIS_0]
  202.  
  203. TYPE = LINEAR
  204. HOME = 0.000
  205. MAX_VELOCITY = 90
  206. MAX_ACCELERATION = 150
  207. PID_MAX_VEL = 95
  208. BACKLASH = 0.000
  209. CYCLE_TIME = 0.001000
  210. INPUT_SCALE = 600
  211. OUTPUT_SCALE = -1
  212. MIN_LIMIT = -1.0
  213. MAX_LIMIT = 1100
  214. FERROR = 1
  215. MIN_FERROR = 0.2
  216. HOME_OFFSET = -4.0
  217. HOME_SEQUENCE = 1
  218. HOME_SEARCH_VEL = -5
  219. HOME_LATCH_VEL = 2
  220. #HOME_FINAL_VEL = 2
  221. HOME_USE_INDEX = NO
  222. HOME_IGNORE_LIMITS = YES
  223. DEADBAND = 0.00125
  224. P = 0.45
  225. I = 0
  226. D = 0.035
  227. BIAS = 0
  228. FF0 = 0
  229. FF1 = 0.01
  230. FF2 = 0.0005
  231.  
  232. #Y
  233. [AXIS_1]
  234.  
  235. TYPE = LINEAR
  236. HOME = 0.000
  237. MAX_VELOCITY = 90
  238. MAX_ACCELERATION = 150
  239. PID_MAX_VEL = 95
  240. BACKLASH = 0.000
  241. CYCLE_TIME = 0.001000
  242. INPUT_SCALE = 600
  243. OUTPUT_SCALE = -1
  244. MIN_LIMIT = -1.0
  245. MAX_LIMIT = 1640.0
  246. FERROR = 1
  247. MIN_FERROR = 0.2
  248. HOME_OFFSET = -1.0
  249. HOME_SEQUENCE = 1
  250. HOME_SEARCH_VEL = -5.0
  251. HOME_LATCH_VEL = 2
  252. #HOME_FINAL_VEL = 2
  253. HOME_USE_INDEX = NO
  254. HOME_IGNORE_LIMITS = YES
  255. DEADBAND = 0.00125
  256. P = 0.45
  257. I = 0
  258. D = 0.035
  259. BIAS = 0
  260. FF0 = 0
  261. FF1 = 0.008
  262. FF2 = 0.0005
  263.  
  264. #Z
  265. [AXIS_2]
  266.  
  267. TYPE = LINEAR
  268. HOME = 0.000
  269. MAX_VELOCITY = 70
  270. MAX_ACCELERATION = 150
  271. PID_MAX_VEL = 95
  272. BACKLASH = 0.000
  273. CYCLE_TIME = 0.001000
  274. INPUT_SCALE = 1040
  275. OUTPUT_SCALE = -1
  276. MIN_LIMIT = -520.0
  277. MAX_LIMIT = 2.0
  278. FERROR = 1
  279. MIN_FERROR = 0.2
  280. HOME_OFFSET = 0.0
  281. HOME_SEQUENCE = 1
  282. HOME_SEARCH_VEL = 5.0
  283. HOME_LATCH_VEL = -2
  284. #HOME_FINAL_VEL = 2
  285. HOME_USE_INDEX = NO
  286. HOME_IGNORE_LIMITS = YES
  287. DEADBAND = 0.00125
  288. P = 1
  289. I = 0
  290. D = 0.04
  291. BIAS = 0
  292. FF0 = 0
  293. FF1 = 0.009
  294. FF2 = 0.0004
  295.  
  296. #(virtual axis for kinematics)
  297. [AXIS_3]
  298.  
  299. #B (stepper)
  300. [AXIS_4]
  301.  
  302. TYPE = ANGULAR
  303. HOME = 0.0
  304. MAX_VELOCITY = 15
  305. MAX_ACCELERATION = 50
  306. STEPGEN_MAXACCEL = 60
  307. SCALE = -233.918
  308. FERROR = 1
  309. MIN_FERROR = .5
  310. MIN_LIMIT = -130.0
  311. MAX_LIMIT = 130.0
  312. HOME_OFFSET = 29.9
  313. HOME_SEQUENCE = 2
  314. HOME_SEARCH_VEL = 6.00000
  315. HOME_LATCH_VEL = -3.00000
  316. HOME_IGNORE_LIMITS = YES
  317.  
  318. #C (stepper)
  319. [AXIS_5]
  320.  
  321. TYPE = ANGULAR
  322. HOME = 0.0
  323. MAX_VELOCITY = 15
  324. MAX_ACCELERATION = 50
  325. STEPGEN_MAXACCEL =60
  326. SCALE = 333.3333
  327. FERROR = 1
  328. MIN_FERROR = .5
  329. MIN_LIMIT = -185.0
  330. MAX_LIMIT = 185.0
  331. HOME_OFFSET = -64.4
  332. HOME_SEQUENCE = 3
  333. HOME_SEARCH_VEL = -6.00000
  334. HOME_LATCH_VEL = 3.00000
  335. HOME_IGNORE_LIMITS = YES
  336.  
  337. #Y1 (U)
  338. [AXIS_6]
  339.  
  340. TYPE = LINEAR
  341. HOME = 0.0
  342. MAX_VELOCITY = 90
  343. MAX_ACCELERATION = 150
  344. PID_MAX_VEL = 95
  345. BACKLASH = 0.000
  346. CYCLE_TIME = 0.001000
  347. INPUT_SCALE = 600
  348. OUTPUT_SCALE = -1
  349. MIN_LIMIT = -1.0
  350. MAX_LIMIT = 1640.0
  351. FERROR = 1
  352. MIN_FERROR = 0.2
  353. HOME_OFFSET = -1.0
  354. HOME_SEQUENCE = 1
  355. HOME_SEARCH_VEL = -5.0
  356. HOME_LATCH_VEL = 2.0
  357. #HOME_FINAL_VEL = 2
  358. HOME_USE_INDEX = NO
  359. HOME_IGNORE_LIMITS = YES
  360. DEADBAND = 0.00125
  361. P = 0.45
  362. I = 0
  363. D = 0.035
  364. BIAS = 0
  365. FF0 = 0
  366. FF1 = 0.008
  367. FF2 = 0.0005
  368.  
  369. #(virtual axis for kinematics)
  370. [AXIS_7]
  371.  
  372.  
  373. #W (virtual axis for kinematics)
  374. [AXIS_8]
  375.  
  376. #TYPE = LINEAR
  377. #HOME = 0.0
  378. MAX_VELOCITY = 90
  379. MAX_ACCELERATION = 250
  380. #STEPGEN_MAXACCEL = 800
  381. #SCALE = 1
  382. FERROR = 250
  383. #MIN_LIMIT = -500.0
  384. #MAX_LIMIT = 1160.0
  385. #HOME_OFFSET = 0.000000
  386. HOME_SEQUENCE = 0
  387. #HOME_SEARCH_VEL = 0.00000
  388. #HOME_LATCH_VEL = 0.00000
  389. #HOME_IGNORE_LIMITS = YES
  390.  
  391.  
  392. # section for main IO controller parameters -----------------------------------
  393. [EMCIO]
  394.  
  395. # Name of IO controller program, e.g., io
  396. EMCIO = io
  397.  
  398. # cycle time, in seconds
  399. CYCLE_TIME = 0.100
  400.  
  401. # tool table file
  402. TOOL_TABLE = tool.tbl
  403.  
  404. # section for external NML server parameters ----------------------------------
  405. [EMCSERVER]
  406. # Uncomment the following line if you need to run a remote GUI.
  407. # EMCSERVER = emcsvr
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