W axis with gantry kins hal/ini configuration

# EMC controller parameters for a simulated XYZBC machine. # General note: Comments can either be preceded with a # or ; - either is # acceptable, although # is in keeping with most linux config files. # General section ------------------------------------------------------------- [EMC] # Version of this INI file VERSION = 1.0 # Name of machine, for use with display, etc. MACHINE = EMC-HAL-SIM-AXIS # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0x7FFFFFFF DEBUG = 0 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., xemc DISPLAY = axis # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.02 # Path to help file HELP_FILE = doc/help.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE # Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL # Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 1.2 MAX_SPINDLE_OVERRIDE = 1.0 # Prefix to be used PROGRAM_PREFIX = /home/todd/linuxcnc/nc_files # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 5 EDITOR = gedit INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python # Task controller section ----------------------------------------------------- [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.001 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = sim_xyzbc.var # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 # Servo task period, in nano-seconds SERVO_PERIOD = 1000000 # 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 = sim_xyzyw.hal # Single file that is executed after the GUI has started. Only supported by # AXIS at this time (only AXIS creates a HAL component of its own) #POSTGUI_HALFILE = test_postgui.hal HALUI = halui # Trajectory planner section -------------------------------------------------- [TRAJ] COORDINATES = X Y Z Y W LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 80 MAX_LINEAR_VELOCITY = 100 DEFAULT_LINEAR_ACCEL = 300 MAX_LINEAR_ACCEL = 300 POSITION_FILE = position_sim_xyzbc.txt [KINS] JOINTS = 5 KINEMATICS = gantrykins # Axes sections --------------------------------------------------------------- [AXIS_X] [AXIS_Y] [AXIS_Z] [AXIS_B] [AXIS_W] # Joints sections ------------------------------------------------------------- # First joint [JOINT_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 100 MAX_ACCELERATION = 300 BACKLASH = 0.000 MIN_LIMIT = -1 MAX_LIMIT = 1000 FERROR = 1 MIN_FERROR = 1 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 # Second joint [JOINT_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 100 MAX_ACCELERATION = 300 BACKLASH = 0.000 MIN_LIMIT = -1 MAX_LIMIT = 1000 FERROR = 1 MIN_FERROR = 1 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 # Third joint [JOINT_2] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 100 MAX_ACCELERATION = 300 BACKLASH = 0.000 MIN_LIMIT = -1 MAX_LIMIT = 100 FERROR = 1 MIN_FERROR = 1 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 [JOINT_3] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 100 MAX_ACCELERATION = 300 BACKLASH = 0.000 MIN_LIMIT = -1 MAX_LIMIT = 1000 FERROR = 1 MIN_FERROR = 1 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 [JOINT_4] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 100 MAX_ACCELERATION = 300 BACKLASH = 0.000 MIN_LIMIT = -1 MAX_LIMIT = 100 FERROR = 1 MIN_FERROR = 1 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO 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 = sim_xyzbc.tbl TOOL_CHANGE_POSITION = 0 0 80

# core HAL config file for XYZBC simulation # first load all the RT modules that will be needed loadrt [KINS]KINEMATICS coordinates=XYZYW setp [KINS](KINEMATICS).joint-0 0 setp [KINS](KINEMATICS).joint-1 1 setp [KINS](KINEMATICS).joint-2 2 setp [KINS](KINEMATICS).joint-3 1 setp [KINS](KINEMATICS).joint-4 8 # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS # add motion controller functions to servo thread addf motion-command-handler servo-thread addf motion-controller servo-thread # create HAL signals for position commands from motion module # loop position commands back to motion module feedback net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb net Bpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb net Cpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb # estop loopback net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in # create signals for tool loading loopback net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

[TRAJ] COORDINATES = XYZW # The [TRAJ]COORDINATES item names the letters for gcode # XYYZW or YYXZW or WXYYYYYYYYYYYZW work the same [KINS] JOINTS = 5 KINEMATICS = gentrivkins coordinates=xyyzw kinstype=BOTH AUTO_TELEOP=20 # The coordinates=xyyzw for gentrivkins assigns to joints # in sequence: 0,1,2,3,4 # so here the order and axis names are important