1BP.ini

# 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: 1.8.2.3 $

#+ Name of machine, for use with display, etc.
MACHINE =               EMC-HAL-STEP-IN

#- Name of NML file to use, default is emc.nml
NML_FILE =              emc.nml

#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0
# DEBUG = 0x00000007  (The next line causes debug to start when emc is started from the command line ie:  >emc
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

INCREMENTS =  0.010 0.001 0.0004

#- Path/name of help file
# HELP_FILE =             tkemc.txt

#- Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

#- Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     COMMANDED

#+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.2

#- Prefix to be used
#PROGRAM_PREFIX = /usr/share/emc/ncfiles/  Changed 7/7/07 to my folder
PROGRAM_PREFIX = /home/jack/emc2/nc_files

#- Introductory graphic
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            5

EDITOR = gedit

OPEN_FILE = /home/jack/emc2/nc_files/MillRectSlot.ngc

###############################################################################
# Filter section
###############################################################################
[FILTER]
PROGRAM_EXTENSION = .py Python Script
py=python

###############################################################################
# Task controller section
###############################################################################
[TASK]

#- Name of task controller program, e.g., bridgeporttask
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

#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY =             111

#- 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 =           50000  this was changed to 115000 1/25/09 to get
#                                rid of rtai error
# After making a bios setting change in APM & not getting errors reset to 100000 5/5/09
BASE_PERIOD=              100000

#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD =           1000000

#- Trajectory Planner task period, in nanosecs - 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 =                1BPstepper.hal
HALFILE =                1BPpinout.hal
HALUI =                  halui
POSTGUI_HALFILE =        AxisSelection.hal
#HALFILE =                halvcp.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 =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
MAX_VELOCITY =          1.5
MAX_ACCELERATION =      2.0
POSITION_FILE =         position.txt
# Commenting out the following line will force you to home all axes
# before you can run any programs. That is a safety feature, but
# can be a nuisance if you are just testing gcode with the motors off.
NO_FORCE_HOMING=1
###############################################################################
# Axes sections
###############################################################################

#+ First axis X Joint3
[AXIS_0]
TYPE =                 LINEAR
HOME =                 0.000
# NOTE:  the step generator module applies its own limits to
# acceleration and velocity.  We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up.  In the long term we
# hope to come up with a clean fix for this problem.  In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
# Units= inches/second
MAX_VELOCITY =         0.9
#MAX_ACCELERATION =     2.0 Original that seemed to work ok
MAX_ACCELERATION =     2.5
STEPGEN_MAXVEL =       1.0
#STEPGEN_MAXACCEL =     2.1 Original that seemed to work ok
STEPGEN_MAXACCEL =     2.6
#BACKLASH =              0.00012
COMP_FILE =            comp0.fil
COMP_FILE_TYPE =       0
INPUT_SCALE =          2500
OUTPUT_SCALE =         1.000
MIN_LIMIT =           -13.0000
MAX_LIMIT =            13.0000
#FERROR =               0.050
#MIN_FERROR =           0.010
HOME_OFFSET =         -13.0
HOME_SEARCH_VEL =     -1.0
HOME_LATCH_VEL =       0.05
HOME_USE_INDEX =       NO
HOME_IGNORE_LIMITS =   YES
HOME_SEQUENCE =        1

#+ Second axis Y Joint1
[AXIS_1]
TYPE =                 LINEAR
HOME =                 0.000
MAX_VELOCITY =         .6
#MAX_ACCELERATION =     2.0 original working accel
MAX_ACCELERATION =     2.2
STEPGEN_MAXVEL =       1.3
STEPGEN_MAXACCEL =     2.4
#BACKLASH =             0.0032
#BACKLASH = 		.005
COMP_FILE =            comp1.fil
COMP_FILE_TYPE =       0
INPUT_SCALE =          2500
OUTPUT_SCALE =         1.000
MIN_LIMIT =           -5.45
MAX_LIMIT =            5.45
FERROR =               0.050
MIN_FERROR =           0.010
HOME_OFFSET =          5.45
HOME_SEARCH_VEL =      .52
HOME_LATCH_VEL =      -0.05
HOME_USE_INDEX =       NO
HOME_IGNORE_LIMITS =   YES
HOME_SEQUENCE =        1

#+ Third axis Z  Joint2
[AXIS_2]
TYPE =                 LINEAR
HOME =                 0.0
MAX_VELOCITY =         1.5
#MAX_ACCELERATION =     1.0
MAX_ACCELERATION =     2.5
STEPGEN_MAXVEL =       1.7
#STEPGEN_MAXACCEL =     1.1
STEPGEN_MAXACCEL =     2.8
INPUT_SCALE =          2000
OUTPUT_SCALE =         1.000
MIN_LIMIT =           -4.600
MAX_LIMIT =            0.1
FERROR =               0.050
MIN_FERROR =           0.010
HOME_OFFSET =          0.01
HOME_SEARCH_VEL =      .2
BACKLASH =             0.0012
HOME_LATCH_VEL =      -0.03
HOME_USE_INDEX =       NO
HOME_IGNORE_LIMITS =   YES
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 =            Tool.tbl