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  1. # EMC controller parameters for a simulated machine.
  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. # General section -------------------------------------------------------------
  7. [PRUCONF]
  8. DRIVER=hal_pru_generic
  9. #PRUBIN=xenomai/pru_generic.bin
  10. PRUBIN=rt-preempt/pru_generic.bin
  11.  
  12.  
  13. [EMC]
  14.  
  15. # Version of this INI file
  16. VERSION = $Revision$
  17.  
  18. # Name of machine, for use with display, etc.
  19. MACHINE = Interkrenn
  20.  
  21. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  22. # DEBUG = 0x7FFFFFFF
  23. DEBUG = 0
  24.  
  25. # Sections for display options ------------------------------------------------
  26. [DISPLAY]
  27.  
  28. # Name of display program, e.g., xemc
  29. DISPLAY = axis
  30. PYVCP = interkrenn_speed_gui.xml
  31. LATHE = 1
  32. EDITOR = gedit
  33.  
  34. # Cycle time, in seconds, that display will sleep between polls
  35. CYCLE_TIME = 0.100
  36.  
  37. # Path to help file
  38. HELP_FILE = doc/help.txt
  39.  
  40. # Initial display setting for position, RELATIVE or MACHINE
  41. POSITION_OFFSET = RELATIVE
  42.  
  43. # Initial display setting for position, COMMANDED or ACTUAL
  44. POSITION_FEEDBACK = ACTUAL
  45.  
  46. # Highest value that will be allowed for feed override, 1.0 = 100%
  47. MAX_FEED_OVERRIDE = 1.2
  48. MAX_SPINDLE_OVERRIDE = 1.0
  49. # Prefix to be used
  50. PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files
  51.  
  52. # Introductory graphic
  53. INTRO_GRAPHIC = machinekit.gif
  54. INTRO_TIME = 5
  55.  
  56. USER_COMMAND_FILE = ~/.axisrc
  57. [FILTER]
  58. PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
  59. PROGRAM_EXTENSION = .py Python Script
  60.  
  61. machinekit@beaglebone:~/mk_ik/config$ more interkrenn.ini
  62. # EMC controller parameters for a simulated machine.
  63.  
  64. # General note: Comments can either be preceded with a # or ; - either is
  65. # acceptable, although # is in keeping with most linux config files.
  66.  
  67. # General section -------------------------------------------------------------
  68. [PRUCONF]
  69. DRIVER=hal_pru_generic
  70. #PRUBIN=xenomai/pru_generic.bin
  71. PRUBIN=rt-preempt/pru_generic.bin
  72.  
  73.  
  74. [EMC]
  75.  
  76. # Version of this INI file
  77. VERSION = $Revision$
  78.  
  79. # Name of machine, for use with display, etc.
  80. MACHINE = Interkrenn
  81.  
  82. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  83. # DEBUG = 0x7FFFFFFF
  84. DEBUG = 0
  85.  
  86. # Sections for display options ------------------------------------------------
  87. [DISPLAY]
  88.  
  89. # Name of display program, e.g., xemc
  90. DISPLAY = axis
  91. PYVCP = interkrenn_speed_gui.xml
  92. LATHE = 1
  93. EDITOR = gedit
  94.  
  95. # Cycle time, in seconds, that display will sleep between polls
  96. CYCLE_TIME = 0.100
  97.  
  98. # Path to help file
  99. HELP_FILE = doc/help.txt
  100.  
  101. # Initial display setting for position, RELATIVE or MACHINE
  102. POSITION_OFFSET = RELATIVE
  103.  
  104. # Initial display setting for position, COMMANDED or ACTUAL
  105. POSITION_FEEDBACK = ACTUAL
  106.  
  107. # Highest value that will be allowed for feed override, 1.0 = 100%
  108. MAX_FEED_OVERRIDE = 1.2
  109. MAX_SPINDLE_OVERRIDE = 1.0
  110. # Prefix to be used
  111. PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files
  112.  
  113. # Introductory graphic
  114. INTRO_GRAPHIC = machinekit.gif
  115. INTRO_TIME = 5
  116.  
  117. USER_COMMAND_FILE = ~/.axisrc
  118. [FILTER]
  119. PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
  120. PROGRAM_EXTENSION = .py Python Script
  121.  
  122. png = image-to-gcode
  123. gif = image-to-gcode
  124. jpg = image-to-gcode
  125. py = python
  126.  
  127. # Task controller section -----------------------------------------------------
  128. [TASK]
  129.  
  130. # Name of task controller program, e.g., milltask
  131. TASK = milltask
  132.  
  133. # Cycle time, in seconds, that task controller will sleep between polls
  134. CYCLE_TIME = 0.001
  135.  
  136. # Part program interpreter section --------------------------------------------
  137. [RS274NGC]
  138.  
  139. # File containing interpreter variables
  140. PARAMETER_FILE = sim-lathe.var
  141.  
  142. # Motion control section ------------------------------------------------------
  143. [EMCMOT]
  144.  
  145. EMCMOT = motmod
  146.  
  147. # Timeout for comm to emcmot, in seconds
  148. COMM_TIMEOUT = 1.0
  149.  
  150. # Interval between tries to emcmot, in seconds
  151. COMM_WAIT = 0.010
  152.  
  153. # Base task period, in nano-seconds - this is the fastest thread in the machine
  154. BASE_PERIOD = 50000
  155. # Servo task period, in nano-seconds - will be rounded to an integer multiple
  156. # of BASE_PERIOD
  157. SERVO_PERIOD = 1000000
  158.  
  159. # Hardware Abstraction Layer section --------------------------------------------------
  160. [HAL]
  161.  
  162. # The run script first uses halcmd to execute any HALFILE
  163. # files, and then to execute any individual HALCMD commands.
  164. #
  165.  
  166. # list of hal config files to run through halcmd
  167. # files are executed in the order in which they appear
  168. HALFILE = interkrenn.hal
  169. HALFILE = axis_manualtoolchange.hal
  170. #HALFILE = lathe.hal
  171.  
  172. # list of halcmd commands to execute
  173. # commands are executed in the order in which they appear
  174. #HALCMD = save neta
  175.  
  176. # Single file that is executed after the GUI has started. Only supported by
  177. # AXIS at this time (only AXIS creates a HAL component of its own)
  178. POSTGUI_HALFILE = interkrenn_speed_postgui.hal
  179.  
  180. # Trajectory planner section --------------------------------------------------
  181. [TRAJ]
  182. AXES = 3
  183. COORDINATES = X Z
  184. LINEAR_UNITS = mm
  185. ANGULAR_UNITS = degree
  186. CYCLE_TIME = 0.010
  187. DEFAULT_VELOCITY = 1.0
  188. MAX_VELOCITY = 3.333334
  189. DEFAULT_ACCELERATION = 20.0
  190. MAX_ACCELERATION = 20.0
  191.  
  192. # Axes sections ---------------------------------------------------------------
  193.  
  194. # First axis
  195. [AXIS_0]
  196.  
  197. TYPE = LINEAR
  198. HOME = 0.000
  199. MAX_VELOCITY = 3.333334
  200. MAX_ACCELERATION = 2.0
  201. BACKLASH = 0.000
  202.  
  203. SCALE = 160.0
  204. INPUT_SCALE = 4000
  205. OUTPUT_SCALE = 1.000
  206.  
  207. MIN_LIMIT = -10.0
  208. MAX_LIMIT = 10.0
  209. FERROR = 1.0
  210. MIN_FERROR = 0.25
  211.  
  212. HOME_OFFSET = 1.0
  213. HOME_SEARCH_VEL = 5.0
  214. HOME_LATCH_VEL = 1.0
  215. HOME_USE_INDEX = NO
  216. HOME_IGNORE_LIMITS = NO
  217. HOME_SEQUENCE = 0
  218. HOME_IS_SHARED = 1
  219.  
  220. [AXIS_1]
  221.  
  222. TYPE = LINEAR
  223. HOME = 0.0
  224. MAX_VELOCITY = 3.333334
  225. MAX_ACCELERATION = 2.0
  226. BACKLASH = 0.000
  227.  
  228. SCALE = 160.0
  229. INPUT_SCALE = 4000
  230. OUTPUT_SCALE = 1.000
  231.  
  232. MIN_LIMIT = -2.0
  233. MAX_LIMIT = 4.0
  234. FERROR = 1.0
  235. MIN_FERROR = 0.25
  236.  
  237. HOME_OFFSET = 1.0
  238. HOME_SEARCH_VEL = 5.0
  239. HOME_LATCH_VEL = 1.0
  240. HOME_USE_INDEX = NO
  241. HOME_IGNORE_LIMITS = NO
  242. HOME_SEQUENCE = 1
  243. HOME_IS_SHARED = 1
  244.  
  245. # section for main IO controller parameters -----------------------------------
  246. [EMCIO]
  247.  
  248. # Name of IO controller program, e.g., io
  249. EMCIO = io
  250.  
  251. # cycle time, in seconds
  252. CYCLE_TIME = 0.100
  253.  
  254. # tool table file
  255. TOOL_TABLE = lathe.tbl
  256. TOOL_CHANGE_POSITION = 2 0 1
  257. TOOL_CHANGE_WITH_SPINDLE_ON = 1
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