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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: 1.8.2.3 $
  17.  
  18. #+ Name of machine, for use with display, etc.
  19. MACHINE = EMC-HAL-STEP-IN
  20.  
  21. #- Name of NML file to use, default is emc.nml
  22. NML_FILE = emc.nml
  23.  
  24. #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  25. #DEBUG = 0
  26. # DEBUG = 0x00000007 (The next line causes debug to start when emc is started from the command line ie: >emc
  27. DEBUG = 0x7FFFFFFF
  28.  
  29. ###############################################################################
  30. # Sections for display options
  31. ###############################################################################
  32. [DISPLAY]
  33.  
  34. #+ Name of display program, e.g., xemc
  35.  
  36.  
  37. DISPLAY = axis
  38. # DISPLAY = usrmot
  39. # DISPLAY = mini
  40. # DISPLAY = tkemc
  41. # Cycle time, in seconds, that display will sleep between polls
  42. CYCLE_TIME = 0.200
  43.  
  44. INCREMENTS = 0.010 0.001 0.0004
  45.  
  46. #- Path/name of help file
  47. # HELP_FILE = tkemc.txt
  48.  
  49. #- Initial display setting for position, RELATIVE or MACHINE
  50. POSITION_OFFSET = RELATIVE
  51.  
  52. #- Initial display setting for position, COMMANDED or ACTUAL
  53. POSITION_FEEDBACK = COMMANDED
  54.  
  55. #+ Highest value that will be allowed for feed override, 1.0 = 100%
  56. MAX_FEED_OVERRIDE = 1.2
  57.  
  58. #- Prefix to be used
  59. #PROGRAM_PREFIX = /usr/share/emc/ncfiles/ Changed 7/7/07 to my folder
  60. PROGRAM_PREFIX = /home/jack/emc2/nc_files
  61.  
  62. #- Introductory graphic
  63. INTRO_GRAPHIC = emc2.gif
  64. INTRO_TIME = 5
  65.  
  66. EDITOR = gedit
  67.  
  68. OPEN_FILE = /home/jack/emc2/nc_files/MillRectSlot.ngc
  69.  
  70. ###############################################################################
  71. # Filter section
  72. ###############################################################################
  73. [FILTER]
  74. PROGRAM_EXTENSION = .py Python Script
  75. py=python
  76.  
  77. ###############################################################################
  78. # Task controller section
  79. ###############################################################################
  80. [TASK]
  81.  
  82. #- Name of task controller program, e.g., bridgeporttask
  83. TASK = milltask
  84.  
  85. #- Cycle time, in seconds, that task controller will sleep between polls
  86. CYCLE_TIME = 0.010
  87.  
  88. ###############################################################################
  89. # Part program interpreter section
  90. ###############################################################################
  91. [RS274NGC]
  92.  
  93. #- File containing interpreter variables
  94. PARAMETER_FILE = stepper.var
  95.  
  96. ###############################################################################
  97. # Motion control section
  98. ###############################################################################
  99. [EMCMOT]
  100.  
  101. #- Name of the motion controller to use (only one exists for nontrivkins)
  102. EMCMOT = motmod
  103.  
  104. #- Key for real OS shared memory, e.g., for simulated motion
  105. SHMEM_KEY = 111
  106.  
  107. #- Timeout for comm to emcmot, in seconds
  108. COMM_TIMEOUT = 1.0
  109.  
  110. #- Interval between tries to emcmot, in seconds
  111. COMM_WAIT = 0.010
  112.  
  113. #+ Base task period, in nanosecs - this is the fastest thread in the machine
  114. # BASE_PERIOD = 50000 this was changed to 115000 1/25/09 to get
  115. # rid of rtai error
  116. # After making a bios setting change in APM & not getting errors reset to 100000 5/5/09
  117. BASE_PERIOD= 100000
  118.  
  119. #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
  120. SERVO_PERIOD = 1000000
  121.  
  122. #- Trajectory Planner task period, in nanosecs - will be rounded to an
  123. # integer multiple of SERVO_PERIOD
  124. TRAJ_PERIOD = 10000000
  125.  
  126. ###############################################################################
  127. # Hardware Abstraction Layer section
  128. ###############################################################################
  129. [HAL]
  130.  
  131. # The run script first uses halcmd to execute any HALFILE
  132. # files, and then to execute any individual HALCMD commands.
  133. #
  134. # list of hal config files to run through halcmd
  135. # files are executed in the order in which they appear
  136.  
  137. HALFILE = 1BPstepper.hal
  138. HALFILE = 1BPpinout.hal
  139. HALUI = halui
  140. POSTGUI_HALFILE = AxisSelection.hal
  141. #HALFILE = halvcp.hal
  142. #- list of halcmd commands to execute
  143. # commands are executed in the order in which they appear
  144. #HALCMD = save neta
  145.  
  146. ###############################################################################
  147. # Trajectory planner section
  148. ###############################################################################
  149. [TRAJ]
  150. #+ machine specific settings
  151. AXES = 3
  152. COORDINATES = X Y Z
  153. HOME = 0 0 0
  154. LINEAR_UNITS = inch
  155. ANGULAR_UNITS = degree
  156. CYCLE_TIME = 0.010
  157. MAX_VELOCITY = 1.5
  158. MAX_ACCELERATION = 2.0
  159. POSITION_FILE = position.txt
  160. # Commenting out the following line will force you to home all axes
  161. # before you can run any programs. That is a safety feature, but
  162. # can be a nuisance if you are just testing gcode with the motors off.
  163. NO_FORCE_HOMING=1
  164. ###############################################################################
  165. # Axes sections
  166. ###############################################################################
  167.  
  168. #+ First axis X Joint3
  169. [AXIS_0]
  170. TYPE = LINEAR
  171. HOME = 0.000
  172. # NOTE: the step generator module applies its own limits to
  173. # acceleration and velocity. We have discovered that it needs
  174. # to have a little "headroom" over the accel by the trajectory
  175. # planner, otherwise it can fall slightly behind during accel
  176. # and later overshoot as it catches up. In the long term we
  177. # hope to come up with a clean fix for this problem. In the
  178. # meantime, please set STEPGEN_MAXACCEL below to a few percent
  179. # higher than the regular acceleration limit MAX_ACCELERATION
  180. # Units= inches/second
  181. MAX_VELOCITY = 0.9
  182. #MAX_ACCELERATION = 2.0 Original that seemed to work ok
  183. MAX_ACCELERATION = 2.5
  184. STEPGEN_MAXVEL = 1.0
  185. #STEPGEN_MAXACCEL = 2.1 Original that seemed to work ok
  186. STEPGEN_MAXACCEL = 2.6
  187. #BACKLASH = 0.00012
  188. COMP_FILE = comp0.fil
  189. COMP_FILE_TYPE = 0
  190. INPUT_SCALE = 2500
  191. OUTPUT_SCALE = 1.000
  192. MIN_LIMIT = -13.0000
  193. MAX_LIMIT = 13.0000
  194. #FERROR = 0.050
  195. #MIN_FERROR = 0.010
  196. HOME_OFFSET = -13.0
  197. HOME_SEARCH_VEL = -1.0
  198. HOME_LATCH_VEL = 0.05
  199. HOME_USE_INDEX = NO
  200. HOME_IGNORE_LIMITS = YES
  201. HOME_SEQUENCE = 1
  202.  
  203. #+ Second axis Y Joint1
  204. [AXIS_1]
  205. TYPE = LINEAR
  206. HOME = 0.000
  207. MAX_VELOCITY = .6
  208. #MAX_ACCELERATION = 2.0 original working accel
  209. MAX_ACCELERATION = 2.2
  210. STEPGEN_MAXVEL = 1.3
  211. STEPGEN_MAXACCEL = 2.4
  212. #BACKLASH = 0.0032
  213. #BACKLASH = .005
  214. COMP_FILE = comp1.fil
  215. COMP_FILE_TYPE = 0
  216. INPUT_SCALE = 2500
  217. OUTPUT_SCALE = 1.000
  218. MIN_LIMIT = -5.45
  219. MAX_LIMIT = 5.45
  220. FERROR = 0.050
  221. MIN_FERROR = 0.010
  222. HOME_OFFSET = 5.45
  223. HOME_SEARCH_VEL = .52
  224. HOME_LATCH_VEL = -0.05
  225. HOME_USE_INDEX = NO
  226. HOME_IGNORE_LIMITS = YES
  227. HOME_SEQUENCE = 1
  228.  
  229. #+ Third axis Z Joint2
  230. [AXIS_2]
  231. TYPE = LINEAR
  232. HOME = 0.0
  233. MAX_VELOCITY = 1.5
  234. #MAX_ACCELERATION = 1.0
  235. MAX_ACCELERATION = 2.5
  236. STEPGEN_MAXVEL = 1.7
  237. #STEPGEN_MAXACCEL = 1.1
  238. STEPGEN_MAXACCEL = 2.8
  239. INPUT_SCALE = 2000
  240. OUTPUT_SCALE = 1.000
  241. MIN_LIMIT = -4.600
  242. MAX_LIMIT = 0.1
  243. FERROR = 0.050
  244. MIN_FERROR = 0.010
  245. HOME_OFFSET = 0.01
  246. HOME_SEARCH_VEL = .2
  247. BACKLASH = 0.0012
  248. HOME_LATCH_VEL = -0.03
  249. HOME_USE_INDEX = NO
  250. HOME_IGNORE_LIMITS = YES
  251. HOME_SEQUENCE = 0
  252.  
  253. ###############################################################################
  254. # section for main IO controller parameters
  255. ###############################################################################
  256. [EMCIO]
  257.  
  258. #- Name of IO controller program, e.g., io
  259. EMCIO = io
  260.  
  261. #- cycle time, in seconds
  262. CYCLE_TIME = 0.100
  263.  
  264. #- tool table file
  265. TOOL_TABLE = Tool.tbl
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