API tools faq
paste
Guest User

Untitled

a guest
Oct 3rd, 2023
29
0
Never
Add comment
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
text 37.97 KB | None | 0 0
raw download clone embed print report
  1. Server
  2. ======
  3.  
  4. $ linuxcnc /home/pi/linuxcnc/configs/test1_server/test1.ini
  5. LINUXCNC - 2.10.0~pre0
  6. Machine configuration directory is '/home/pi/linuxcnc/configs/test1_server'
  7. Machine configuration file is 'test1.ini'
  8. Starting LinuxCNC...
  9. (time=1696333668.729680,pid=923052): Registering server on TCP port 5005.
  10. (time=1696333668.733237,pid=923052): running server for TCP port 5005 (connection_socket = 3).
  11. linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
  12. Note: Using POSIX non-realtime
  13. Found file(REL): ./test1.hal
  14. Raspberry Pi 4 Model B Rev 1.5 found
  15. 4 cores rev 17
  16. rpi 4 detected
  17. HAL_PI_GPIO: installed driver
  18. STEPGEN: installed 3 step pulse generators
  19. PWMGEN: installed 1 PWM/PDM generators
  20. Found file(REL): ./custom.hal
  21. MOTION: setting Traj cycle time to 105000 nsecs
  22. MOTION: setting Servo cycle time to 0 nsecs
  23. task: machine: 'test1' version 'unknown'
  24. DUMMY DISPLAY MODULE, press <ENTER> to continue.
  25. emcTaskOnce: Python plugin configured
  26. emcTaskOnce: extract(task_instance): KeyError: 'task'
  27. emcTaskOnce: no Python Task() instance available, using default iocontrol-based task methods
  28. emcTrajSetJoints(3) returned 0
  29. emcTrajSetSpindles(1) returned 0
  30. emcTrajSetAxes(3, 7)
  31. emcTrajSetUnits(1.0000, 1.0000)
  32. emcTrajSetVelocity(0.0000, 2.5000) returned 0
  33. emcTrajSetMaxVelocity(25.0000) returned 0
  34. emcTrajSetAcceleration(1e+99) returned 0
  35. emcTrajSetMaxAcceleration(1e+99)
  36. emcTrajSetHome(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000) returned 0
  37. emcJointSetType(0, 1)
  38. emcJointSetUnits(0, 1.0000)
  39. emcJointSetBacklash(0, 0.0000) returned 0
  40. emcJointSetMinPositionLimit(0, -0.001) returned 0
  41. emcJointSetMaxPositionLimit(0, 259) returned 0
  42. emcJointSetFerror(0, 1.0000) returned 0
  43. emcJointSetMinFerror(0, 0.2500) returned 0
  44. emcJointSetHomingParams(0, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
  45. emcJointSetMaxVelocity(0, 23.7502) returned 0
  46. emcJointSetMaxAcceleration(0, 750) returned 0
  47. emcJointActivate(0) returned 0
  48. emcJointSetType(1, 1)
  49. emcJointSetUnits(1, 1.0000)
  50. emcJointSetBacklash(1, 0.0000) returned 0
  51. emcJointSetMinPositionLimit(1, -0.001) returned 0
  52. emcJointSetMaxPositionLimit(1, 170) returned 0
  53. emcJointSetFerror(1, 1.0000) returned 0
  54. emcJointSetMinFerror(1, 0.2500) returned 0
  55. emcJointSetHomingParams(1, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
  56. emcJointSetMaxVelocity(1, 23.7502) returned 0
  57. emcJointSetMaxAcceleration(1, 750) returned 0
  58. emcJointActivate(1) returned 0
  59. emcJointSetType(2, 1)
  60. emcJointSetUnits(2, 1.0000)
  61. emcJointSetBacklash(2, 0.0000) returned 0
  62. emcJointSetMinPositionLimit(2, -0.001) returned 0
  63. emcJointSetMaxPositionLimit(2, 40) returned 0
  64. emcJointSetFerror(2, 1.0000) returned 0
  65. emcJointSetMinFerror(2, 0.2500) returned 0
  66. emcJointSetHomingParams(2, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
  67. emcJointSetMaxVelocity(2, 23.7502) returned 0
  68. emcJointSetMaxAcceleration(2, 750) returned 0
  69. emcJointActivate(2) returned 0
  70. emcAxisSetMinPositionLimit(0, -0.0010) returned 0
  71. emcAxisSetMaxPositionLimit(0, 259.0000) returned 0
  72. emcAxisSetMaxVelocity(0, 23.7502) returned 0
  73. emcAxisSetMaxAcceleration(0, 750.0000) returned 0
  74. emcAxisSetLockingJoint(0, -1) returned 0
  75. emcAxisSetMinPositionLimit(1, -0.0010) returned 0
  76. emcAxisSetMaxPositionLimit(1, 160.0000) returned 0
  77. emcAxisSetMaxVelocity(1, 23.7502) returned 0
  78. emcAxisSetMaxAcceleration(1, 750.0000) returned 0
  79. emcAxisSetLockingJoint(1, -1) returned 0
  80. emcAxisSetMinPositionLimit(2, -0.0010) returned 0
  81. emcAxisSetMaxPositionLimit(2, 40.0000) returned 0
  82. emcAxisSetMaxVelocity(2, 23.7502) returned 0
  83. emcAxisSetMaxAcceleration(2, 750.0000) returned 0
  84. emcAxisSetLockingJoint(2, -1) returned 0
  85. emcSpindleSetParams(0, 1.000000e+99, 0.000000e+00, 0.000000e+00, -1.000000e+99, 0.000000, 0.000000, 0, 100.000000) returned 0
  86. NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=112,type=EMC_TRAJ_SET_TERM_COND}) : list_size=1, line_number=0
  87. NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=176,type=EMC_TRAJ_SET_G5X}) : list_size=2, line_number=0
  88. NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=168,type=EMC_TRAJ_SET_G92}) : list_size=3, line_number=0
  89. NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=104,type=EMC_TRAJ_SET_ROTATION}) : list_size=4, line_number=0
  90. emcTaskPlanInit() returned 0
  91. NML_INTERP_LIST(0x55694bbbd8)::get(): {size=112, type=EMC_TRAJ_SET_TERM_COND}, list_size=3
  92. emcTaskPlanLevel() returned 0
  93. Issuing EMC_TRAJ_SET_TERM_COND -- ( +222,+112, +0, +2,0.025400,)
  94. NML_INTERP_LIST(0x55694bbbd8)::get(): {size=176, type=EMC_TRAJ_SET_G5X}, list_size=2
  95. emcTaskPlanLevel() returned 0
  96. Issuing EMC_TRAJ_SET_G5X -- ( +224,+176, +0, +1,54.702235,41.663668,8.192091,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,)
  97. NML_INTERP_LIST(0x55694bbbd8)::get(): {size=168, type=EMC_TRAJ_SET_G92}, list_size=1
  98. emcTaskPlanLevel() returned 0
  99. Issuing EMC_TRAJ_SET_G92 -- ( +227,+168, +0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,)
  100. NML_INTERP_LIST(0x55694bbbd8)::get(): {size=104, type=EMC_TRAJ_SET_ROTATION}, list_size=0
  101. emcTaskPlanLevel() returned 0
  102. Issuing EMC_TRAJ_SET_ROTATION -- ( +226,+104, +0,0.000000,)
  103.  
  104. ---------------------------------------------------------------------------------------------------------------------------
  105. # test1_server/test1.ini (works fine with DISPLAY = axis)
  106. [EMC]
  107. MACHINE = test1
  108. DEBUG = -1
  109. VERSION = 1.1
  110. NML_FILE = /home/pi/linuxcnc/configs/test1_server/server.nml
  111.  
  112. [DISPLAY]
  113. DISPLAY = dummy
  114.  
  115. [KINS]
  116. JOINTS = 3
  117. KINEMATICS = trivkins coordinates=XYZ
  118.  
  119. [FILTER]
  120. PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
  121. PROGRAM_EXTENSION = .py Python Script
  122. PROGRAM_EXTENSION = .nc,.tap G-Code File
  123. png = image-to-gcode
  124. gif = image-to-gcode
  125. jpg = image-to-gcode
  126. py = python
  127.  
  128. [TASK]
  129. TASK = milltask
  130. CYCLE_TIME = 0.010
  131.  
  132. [RS274NGC]
  133. PARAMETER_FILE = linuxcnc.var
  134.  
  135. [EMCMOT]
  136. EMCMOT = motmod
  137. COMM_TIMEOUT = 1.0
  138. #BASE_PERIOD=9000
  139. #SERVO_PERIOD=200000
  140. BASE_PERIOD = 35000
  141. SERVO_PERIOD = 100000
  142.  
  143. [HAL]
  144. HALFILE = test1.hal
  145. HALFILE = custom.hal
  146. POSTGUI_HALFILE = postgui_call_list.hal
  147.  
  148. [TRAJ]
  149. COORDINATES = X Y Z
  150. LINEAR_UNITS = mm
  151. ANGULAR_UNITS = degree
  152. DEFAULT_LINEAR_VELOCITY = 2.5
  153. MAX_LINEAR_VELOCITY = 25.00
  154.  
  155. [EMCIO]
  156. EMCIO = io
  157. CYCLE_TIME = 0.100
  158. TOOL_TABLE = tool.tbl
  159.  
  160. #*** AXIS_X *******************************
  161. [AXIS_X]
  162. MAX_VELOCITY = 23.750152000972808
  163. MAX_ACCELERATION = 750.0
  164. MIN_LIMIT = -0.001
  165. MAX_LIMIT = 259.0
  166.  
  167. [JOINT_0]
  168. TYPE = LINEAR
  169. HOME = 0.0
  170. MIN_LIMIT = -0.001
  171. MAX_LIMIT = 259.0
  172. MAX_VELOCITY = 23.750152000972808
  173. MAX_ACCELERATION = 750.0
  174. STEPGEN_MAXACCEL = 937.5
  175. SCALE = -1605.6
  176. FERROR = 1
  177. MIN_FERROR = .25
  178. HOME_OFFSET = 0.0
  179. #******************************************
  180.  
  181. #*** AXIS_Y *******************************
  182. [AXIS_Y]
  183. MAX_VELOCITY = 23.750152000972808
  184. MAX_ACCELERATION = 750.0
  185. MIN_LIMIT = -0.001
  186. MAX_LIMIT = 160.0
  187.  
  188. [JOINT_1]
  189. TYPE = LINEAR
  190. HOME = 0.0
  191. MIN_LIMIT = -0.001
  192. MAX_LIMIT = 170.0
  193. MAX_VELOCITY = 23.750152000972808
  194. MAX_ACCELERATION = 750.0
  195. STEPGEN_MAXACCEL = 937.5
  196. SCALE = 1610.5
  197. FERROR = 1
  198. MIN_FERROR = .25
  199. HOME_OFFSET = 0.0
  200. #******************************************
  201.  
  202. #*** AXIS_Z *******************************
  203. [AXIS_Z]
  204. MAX_VELOCITY = 23.750152000972808
  205. MAX_ACCELERATION = 750.0
  206. MIN_LIMIT = -0.001
  207. MAX_LIMIT = 40.0
  208.  
  209. [JOINT_2]
  210. TYPE = LINEAR
  211. HOME = 0.0
  212. MIN_LIMIT = -0.001
  213. MAX_LIMIT = 40.0
  214. MAX_VELOCITY = 23.750152000972808
  215. MAX_ACCELERATION = 750.0
  216. STEPGEN_MAXACCEL = 937.5
  217. SCALE = 1605
  218. FERROR = 1
  219. MIN_FERROR = .25
  220. HOME_OFFSET = 0.0
  221. #******************************************
  222.  
  223. ---------------------------------------------------------------------------------------------------------------------------
  224. # server.nml
  225. # Note: emcsvr is the master for all NML channels, and therefore is the
  226. # first to start.
  227.  
  228. # Buffers
  229. # Name Type Host size neut? (old) buffer# MP ---
  230.  
  231. # Top-level buffers to EMC
  232. B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write serial
  233. B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
  234. B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
  235.  
  236. # These are for the IO controller, EMCIO
  237. B toolCmd SHMEM 192.168.2.156 2048 0 0 4 16 1004 TCP=5005 xdr
  238. B toolSts SHMEM 192.168.2.156 155648 0 0 5 16 1005 TCP=5005 xdr
  239. B spindleCmd SHMEM 192.168.2.156 2048 0 0 6 16 1006 TCP=5005 xdr
  240. B spindleSts SHMEM 192.168.2.156 2048 0 0 7 16 1007 TCP=5005 xdr
  241.  
  242. # Processes
  243. # Name Buffer Type Host Ops server? timeout master? cnum
  244.  
  245. P emc emcCommand LOCAL 192.168.2.156 RW 0 1.0 0 0
  246. P emc emcStatus LOCAL 192.168.2.156 W 0 1.0 0 0
  247. P emc emcError LOCAL 192.168.2.156 W 0 1.0 0 0
  248. P emc toolCmd LOCAL 192.168.2.156 W 0 1.0 0 0
  249. P emc toolSts LOCAL 192.168.2.156 R 0 1.0 0 0
  250.  
  251. P emcsvr emcCommand LOCAL 192.168.2.156 W 1 1.0 1 2
  252. P emcsvr emcStatus LOCAL 192.168.2.156 R 1 1.0 1 2
  253. P emcsvr emcError LOCAL 192.168.2.156 R 1 1.0 1 2
  254. P emcsvr toolCmd LOCAL 192.168.2.156 W 1 1.0 1 2
  255. P emcsvr toolSts LOCAL 192.168.2.156 R 1 1.0 1 2
  256. P emcsvr default LOCAL 192.168.2.156 RW 1 1.0 1 2
  257.  
  258. P tool emcError LOCAL 192.168.2.156 W 0 1.0 0 3
  259. P tool toolCmd LOCAL 192.168.2.156 RW 0 1.0 0 3
  260. P tool toolSts LOCAL 192.168.2.156 W 0 1.0 0 3
  261.  
  262. P xemc emcCommand REMOTE 192.168.0.107 W 0 1.0 0 10
  263. P xemc emcStatus REMOTE 192.168.0.107 R 0 1.0 0 10
  264. P xemc emcError REMOTE 192.168.0.107 R 0 1.0 0 10
  265. P xemc toolCmd REMOTE 192.168.0.107 W 0 1.0 0 10
  266. P xemc toolSts REMOTE 192.168.0.107 R 0 1.0 0 10
  267.  
  268. ---------------------------------------------------------------------------------------------------------------------------
  269.  
  270. Client
  271. ======
  272.  
  273. $ linuxcncrsh -- -ini /home/user/linuxcnc/configs/test1_client/test1.ini
  274. (time=1696334292.539296,pid=1144709): 0x56367013d090 = NML::operator new(392)
  275. (time=1696334292.539331,pid=1144709): cms_config arguments:
  276. (time=1696334292.539337,pid=1144709): bufname = emcCommand
  277. (time=1696334292.539342,pid=1144709): procname = xemc
  278. (time=1696334292.539347,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
  279. (time=1696334292.539391,pid=1144709): cms_config found buffer line on line 9
  280. (time=1696334292.539405,pid=1144709): cms_config found process line on line 37
  281. (time=1696334292.539424,pid=1144709): 0x56367013d710 = CMS::new(12344)
  282. (time=1696334292.539437,pid=1144709): new CMS (emcCommand)
  283. (time=1696334292.539457,pid=1144709): 0x563670140850 = data = calloc(8192,1);
  284. (time=1696334292.539486,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
  285. (time=1696334292.539495,pid=1144709): Creating socket . . .
  286. (time=1696334292.539506,pid=1144709): Setting socket options . . .
  287. (time=1696334292.539516,pid=1144709): Binding . . .
  288. (time=1696334292.539535,pid=1144709): Connecting . . .
  289. (time=1696334292.570513,pid=1144709): wrote 20 bytes to 4
  290. (time=1696334292.570591,pid=1144709): TCPMEM sending request: fd = 4, serial_number=1, request_type=12, buffer_number=1
  291. (time=1696334292.573950,pid=1144709): read 40 bytes from 4
  292. (time=1696334292.573986,pid=1144709): TCPMEM received_reply: fd = 4, serial_number=1, buffer_number=1
  293. (time=1696334292.574006,pid=1144709): 0x56367013d710 = new TCPMEM(B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write seri
  294. al
  295. ,P xemc emcCommand REMOTE 192.168.0.156 W 0 1.0 0 10(time=1696334292.574053,pid=1144709): 0x563670146cb0 = NML::operator new(392)
  296. (time=1696334292.574075,pid=1144709): cms_config arguments:
  297. (time=1696334292.574090,pid=1144709): bufname = emcStatus
  298. (time=1696334292.574104,pid=1144709): procname = xemc
  299. (time=1696334292.574118,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
  300. (time=1696334292.574243,pid=1144709): cms_config found buffer line on line 11
  301. (time=1696334292.574281,pid=1144709): cms_config found process line on line 38
  302. (time=1696334292.574320,pid=1144709): 0x563670146e80 = CMS::new(12344)
  303. (time=1696334292.574343,pid=1144709): new CMS (emcStatus)
  304. (time=1696334292.574395,pid=1144709): 0x7f8746751010 = data = calloc(170000,1);
  305. (time=1696334292.574681,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
  306. (time=1696334292.574698,pid=1144709): Creating socket . . .
  307. (time=1696334292.574743,pid=1144709): Setting socket options . . .
  308. (time=1696334292.574765,pid=1144709): Binding . . .
  309. (time=1696334292.574787,pid=1144709): Connecting . . .
  310. (time=1696334292.577518,pid=1144709): wrote 20 bytes to 5
  311. (time=1696334292.577588,pid=1144709): TCPMEM sending request: fd = 5, serial_number=1, request_type=12, buffer_number=2
  312. (time=1696334292.581005,pid=1144709): read 40 bytes from 5
  313. (time=1696334292.581071,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=1, buffer_number=2
  314. (time=1696334292.581103,pid=1144709): 0x563670146e80 = new TCPMEM(B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
  315. ,P xemc emcStatus REMOTE 192.168.0.156 R 0 1.0 0 10
  316. )
  317. (time=1696334292.581207,pid=1144709): wrote 20 bytes to 5
  318. (time=1696334292.585921,pid=1144709): read 20 bytes from 5
  319. (time=1696334292.585957,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=2, buffer_number=2
  320. (time=1696334292.609678,pid=1144709): read 103884 bytes from 5
  321. (time=1696334292.609743,pid=1144709): 0x56367014a270 = NML::operator new(392)
  322. (time=1696334292.609753,pid=1144709): cms_config arguments:
  323. (time=1696334292.609757,pid=1144709): bufname = emcError
  324. (time=1696334292.609761,pid=1144709): procname = xemc
  325. (time=1696334292.609765,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
  326. (time=1696334292.609823,pid=1144709): cms_config found buffer line on line 10
  327. (time=1696334292.609836,pid=1144709): cms_config found process line on line 39
  328. (time=1696334292.609855,pid=1144709): 0x56367014a510 = CMS::new(12344)
  329. (time=1696334292.609876,pid=1144709): new CMS (emcError)
  330. (time=1696334292.609898,pid=1144709): 0x56367014d5c0 = data = calloc(8192,1);
  331. (time=1696334292.609910,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
  332. (time=1696334292.609916,pid=1144709): Creating socket . . .
  333. (time=1696334292.609929,pid=1144709): Setting socket options . . .
  334. (time=1696334292.609937,pid=1144709): Binding . . .
  335. (time=1696334292.609945,pid=1144709): Connecting . . .
  336. (time=1696334292.612699,pid=1144709): wrote 20 bytes to 6
  337. (time=1696334292.612726,pid=1144709): TCPMEM sending request: fd = 6, serial_number=1, request_type=12, buffer_number=3
  338. (time=1696334292.616186,pid=1144709): read 40 bytes from 6
  339. (time=1696334292.616209,pid=1144709): TCPMEM received_reply: fd = 6, serial_number=1, buffer_number=3
  340. (time=1696334292.616217,pid=1144709): 0x56367014a510 = new TCPMEM(B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
  341. ,P xemc emcError REMOTE 192.168.0.156 R 0 1.0 0 10
  342. )
  343. (time=1696334292.616255,pid=1144709): wrote 20 bytes to 5
  344. (time=1696334292.620495,pid=1144709): read 20 bytes from 5
  345. (time=1696334292.620509,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=3, buffer_number=2
  346. (time=1696334292.639883,pid=1144709): read 103884 bytes from 5
  347.  
  348.  
  349. ---------------------------------------------------------------------------------------------------------------------------
  350. # test1_client/test1.ini
  351.  
  352. [EMC]
  353. MACHINE = test1
  354. DEBUG = -1
  355. VERSION = 1.1
  356. NML_FILE = /home/user/linuxcnc/configs/test1_client/client.nml
  357.  
  358. [DISPLAY]
  359. #DISPLAY = axis
  360. DISPLAY = tklinuxcnc
  361. EDITOR = gedit
  362. POSITION_OFFSET = RELATIVE
  363. POSITION_FEEDBACK = ACTUAL
  364. ARCDIVISION = 64
  365. GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
  366. MAX_FEED_OVERRIDE = 2.0
  367. MIN_SPINDLE_OVERRIDE = 0.5
  368. MAX_SPINDLE_OVERRIDE = 1.5
  369. DEFAULT_LINEAR_VELOCITY = 3.50
  370. MIN_LINEAR_VELOCITY = 0
  371. MAX_LINEAR_VELOCITY = 25.00
  372. CYCLE_TIME = 0.100
  373. INTRO_GRAPHIC = linuxcnc.gif
  374. INTRO_TIME = 5
  375. PROGRAM_PREFIX = /home/pi/linuxcnc/nc_files
  376. INCREMENTS = 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm
  377.  
  378. [KINS]
  379. JOINTS = 3
  380. KINEMATICS = trivkins coordinates=XYZ
  381.  
  382. [FILTER]
  383. PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
  384. PROGRAM_EXTENSION = .py Python Script
  385. PROGRAM_EXTENSION = .nc,.tap G-Code File
  386. png = image-to-gcode
  387. gif = image-to-gcode
  388. jpg = image-to-gcode
  389. py = python
  390.  
  391. [TASK]
  392. #TASK = linuxcnctask
  393. TASK = milltask
  394. CYCLE_TIME = 1.000
  395.  
  396. [RS274NGC]
  397. PARAMETER_FILE = linuxcnc.var
  398.  
  399. [EMCMOT]
  400. EMCMOT = motmod
  401. COMM_TIMEOUT = 1.0
  402. #BASE_PERIOD=9000
  403. #SERVO_PERIOD=200000
  404. BASE_PERIOD = 35000
  405. SERVO_PERIOD = 100000
  406.  
  407. [HAL]
  408. #HALFILE = test1.hal
  409. #HALFILE = custom.hal
  410. HALFILE = LIB:basic_sim.tcl
  411. POSTGUI_HALFILE = postgui_call_list.hal
  412.  
  413. [TRAJ]
  414. COORDINATES = X Y Z
  415. LINEAR_UNITS = mm
  416. ANGULAR_UNITS = degree
  417. DEFAULT_LINEAR_VELOCITY = 2.5
  418. MAX_LINEAR_VELOCITY = 25.00
  419.  
  420. #[EMCIO]
  421. #EMCIO = io
  422. #CYCLE_TIME = 0.100
  423. #TOOL_TABLE = tool.tbl
  424.  
  425. #*** AXIS_X *******************************
  426. [AXIS_X]
  427. MAX_VELOCITY = 23.750152000972808
  428. MAX_ACCELERATION = 750.0
  429. MIN_LIMIT = -0.001
  430. MAX_LIMIT = 269.0
  431.  
  432. [JOINT_0]
  433. TYPE = LINEAR
  434. HOME = 0.0
  435. MIN_LIMIT = -0.001
  436. MAX_LIMIT = 269.0
  437. MAX_VELOCITY = 23.750152000972808
  438. MAX_ACCELERATION = 750.0
  439. STEPGEN_MAXACCEL = 937.5
  440. SCALE = -1605.6
  441. FERROR = 1
  442. MIN_FERROR = .25
  443. HOME_OFFSET = 0.0
  444. #******************************************
  445.  
  446. #*** AXIS_Y *******************************
  447. [AXIS_Y]
  448. MAX_VELOCITY = 23.750152000972808
  449. MAX_ACCELERATION = 750.0
  450. MIN_LIMIT = -0.001
  451. MAX_LIMIT = 160.0
  452.  
  453. [JOINT_1]
  454. TYPE = LINEAR
  455. HOME = 0.0
  456. MIN_LIMIT = -0.001
  457. MAX_LIMIT = 170.0
  458. MAX_VELOCITY = 23.750152000972808
  459. MAX_ACCELERATION = 750.0
  460. STEPGEN_MAXACCEL = 937.5
  461. SCALE = 1610.5
  462. FERROR = 1
  463. MIN_FERROR = .25
  464. HOME_OFFSET = 0.0
  465. #******************************************
  466.  
  467. #*** AXIS_Z *******************************
  468. [AXIS_Z]
  469. MAX_VELOCITY = 23.750152000972808
  470. MAX_ACCELERATION = 750.0
  471. MIN_LIMIT = -0.001
  472. MAX_LIMIT = 40.0
  473.  
  474. [JOINT_2]
  475. TYPE = LINEAR
  476. HOME = 0.0
  477. MIN_LIMIT = -0.001
  478. MAX_LIMIT = 40.0
  479. MAX_VELOCITY = 23.750152000972808
  480. MAX_ACCELERATION = 750.0
  481. STEPGEN_MAXACCEL = 937.5
  482. SCALE = 1605
  483. FERROR = 1
  484. MIN_FERROR = .25
  485. HOME_OFFSET = 0.0
  486. #******************************************
  487.  
  488. ---------------------------------------------------------------------------------------------------------------------------
  489. # client.nml
  490.  
  491. # Note: emcsvr is the master for all NML channels, and therefore is the
  492. # first to start.
  493.  
  494. # Buffers
  495. # Name Type Host size neut? (old) buffer# MP ---
  496.  
  497. # Top-level buffers to EMC
  498. B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write serial
  499. B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
  500. B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
  501.  
  502. # These are for the IO controller, EMCIO
  503. B toolCmd SHMEM 192.168.2.156 2048 0 0 4 16 1004 TCP=5005 xdr
  504. B toolSts SHMEM 192.168.2.156 155648 0 0 5 16 1005 TCP=5005 xdr
  505.  
  506. # Processes
  507. # Name Buffer Type Host Ops server? timeout master? cnum
  508.  
  509. P tool emcError REMOTE 192.168.2.156 W 0 1.0 0 3
  510. P tool toolCmd REMOTE 192.168.2.156 R 0 1.0 0 3
  511. P tool toolSts REMOTE 192.168.2.156 W 0 1.0 0 3
  512.  
  513. P xemc emcCommand REMOTE 192.168.0.156 W 0 1.0 0 10
  514. P xemc emcStatus REMOTE 192.168.0.156 R 0 1.0 0 10
  515. P xemc emcError REMOTE 192.168.0.156 R 0 1.0 0 10
  516. P xemc toolCmd REMOTE 192.168.2.156 W 0 1.0 0 10
  517. P xemc toolSts REMOTE 192.168.2.156 R 0 1.0 0 10
  518.  
Add Comment
Please, Sign In to add comment
Public Pastes
We use cookies for various purposes including analytics. By continuing to use Pastebin, you agree to our use of cookies as described in the Cookies Policy.  OK, I Understand
Not a member of Pastebin yet?
Sign Up, it unlocks many cool features!