imperial_plasmac.ini

# this section only reqired if using the sim testing panel
#[APPLICATIONS]
#DELAY                   = 3
#APP                     = ./test/plasmac_test.py

# this section only required if any of the options need to be specified
[PLASMAC]

# sets the operating mode, if not specified the default is 0
# 0 = use arc-voltage-in for arcOK and THC (no need to connect arc-ok-in, move-up-in and move-down-in)
# 1 = use arc-ok-in for arcOK and arc-voltage-in for THC (no need to connect move-up-in and move-down-in)
# 2 = use arc-ok-in for arcOK and move-down-in + move-up-in for THC (no need to connect arc-voltage-in)
MODE                    = 1

# enable(1) or disable(0) the gladevcp config page, if not specified the default is enabled
CONFIG_ENABLE           = 1

# the theme for displaying the panel, if not specified the system theme will be used
THEME                   = BlueMenta

# the font for the panel, if not specified 'sans 10' will be used
FONT                    = sans 13

# the name of the configuration file, if not specified the default is [EMC]MACHINE.cfg
CONFIG_FILE             = imperial_plasmac_panel.cfg

# the name of the materials file, if not specified the default is [EMC]MACHINE.mat
MATERIAL_FILE           = imperial_plasmac_panel.mat

# this section required as is for remapping gcode f word
[PYTHON]
PATH_PREPEND            = ./python/
TOPLEVEL                = ./python/toplevel.py

[EMC]
VERSION                 = 1.1
MACHINE                 = PLASMAC-IMPERIAL
DEBUG                   = 0

[HAL]

# required
TWOPASS                 = ON

HALFILE                 = machine.hal
#HALFILE                 = LIB:basic_sim.tcl

# required
HALFILE                 = plasmac.hal

# required
HALUI                   = halui

[DISPLAY]
DISPLAY                 = axis
POSITION_OFFSET         = RELATIVE
POSITION_FEEDBACK       = ACTUAL
MAX_FEED_OVERRIDE       = 1.5
PROGRAM_PREFIX          = ../../nc_files
INTRO_GRAPHIC           = linuxcnc.gif
INTRO_TIME              = 1
CYCLE_TIME              = 0.05
INCREMENTS              = .005, .001
OPEN_FILE               = ../../nc_files/plasmac/imperial_squares.ngc
EDITOR                  = leafpad
TOOL_EDITOR             = tooledit DIAM
MDI_HISTORY_FILE        = imperial_mdi_history.txt

# required
GLADEVCP                = -u ./plasmac_panel.py -H ./plasmac_panel.hal ./plasmac_panel.glade

# recommended
USER_COMMAND_FILE       = axis_tweaks

[TASK]
TASK                    = milltask
CYCLE_TIME              = 0.01

[RS274NGC]
RS274NGC_STARTUP_CODE   = G20 G40 G49 G64P0.002 G80 G90 G92.1 G94 G97
PARAMETER_FILE          = imperial_parameters.txt

# required, ./ must be in this path
SUBROUTINE_PATH         = ./:../../nc_files/subroutines

# required for reading ini and hal variables
FEATURES                = 12

# required for remapping gcode f word
REMAP                   = F prolog=plasmac_feed_prolog ngc=plasmac_feed epilog=plasmac_feed_epilog

[EMCMOT]
EMCMOT                  = motmod
BASE_PERIOD             = 32000
SERVO_PERIOD            = 200000

[EMCIO]
EMCIO                   = io
CYCLE_TIME              = 0.100
TOOL_TABLE              = imperial_tool.tbl

[KINS]
KINEMATICS              = trivkins coordinates=xyz
JOINTS                  = 3

[TRAJ]
COORDINATES             = XYZ
LINEAR_UNITS            = inch
MAX_LINEAR_VELOCITY     = 5
ANGULAR_UNITS           = degree
POSITION_FILE           = imperial_position.txt
NO_FORCE_HOMING         = 1

[AXIS_X]
MIN_LIMIT = -0.05
MAX_LIMIT = 50.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 20.0

[JOINT_0]

TYPE =              LINEAR
MAX_VELOCITY =       10.0
MAX_ACCELERATION =   20.0
STEPGEN_MAXVEL = 11.5
STEPGEN_MAXACCEL =  25.0
SCALE = 2540
MIN_LIMIT = -0.05
MAX_LIMIT = 50.0
FERROR = 0.50
MIN_FERROR = 0.50
HOME = 0.0
HOME_OFFSET =  0.0
HOME_SEARCH_VEL = -2.0
HOME_LATCH_VEL = -0.25
HOME_FINAL_VEL = 0.15
HOME_SEQUENCE = 1
HOME_USE_INDEX = NO
#BACKLASH =           0.000
HOME_IGNORE_LIMITS = YES

# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000

#********************
# Axis Y
#********************
[AXIS_Y]
MIN_LIMIT = -58.0
MAX_LIMIT = 0.05
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 20.0

[JOINT_1]

TYPE = LINEAR
MAX_VELOCITY =       6.0
MAX_ACCELERATION =   20.0
STEPGEN_MAXVEL = 7.5
STEPGEN_MAXACCEL =  25.0
SCALE = 2540
MIN_LIMIT = -58.0
MAX_LIMIT = 0.05
FERROR = 0.50
MIN_FERROR = 0.50
HOME =         0.0
HOME_OFFSET =           0.0
HOME_SEARCH_VEL =       2.0
HOME_LATCH_VEL =        0.25
HOME_FINAL_VEL =        0.5
HOME_SEQUENCE = 2
HOME_USE_INDEX = NO
#BACKLASH = 0.000
HOME_IGNORE_LIMITS =    YES

# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -3.5
MAX_LIMIT = 0.75
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 40
# required, shares the above two equally between the axis/joint and the offset
OFFSET_AV_RATIO         = 0.5

[JOINT_2]

TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 20
STEPGEN_MAXVEL = 1.25
STEPGEN_MAXACCEL = 37.50
SCALE = 10160
MIN_LIMIT = -3.5
MAX_LIMIT =  0.75
FERROR =     0.050
MIN_FERROR = 0.005
HOME =                  0.00
HOME_OFFSET =           0.00
HOME_SEARCH_VEL =       0.25
HOME_LATCH_VEL =        -0.25
HOME_FINAL_VEL = 0.75
HOME_SEQUENCE = 0
HOME_USE_INDEX = NO
BACKLASH = 0.000
HOME_IGNORE_LIMITS =    YES

# these are in nanoseconds
DIRSETUP   = 20000
DIRHOLD    = 20000
STEPLEN    = 5000
STEPSPACE  = 5000