# 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. # General section ------------------------------------------------------------- [EMC] # Version of this INI file VERSION = $Revision$ # Name of machine, for use with display, etc. MACHINE = LinuxCNC-UNIVSTEP # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0 # DEBUG = 0x00000007 # DEBUG = 0x7FFFFFFF # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., xemc DISPLAY = axis # DISPLAY = usrmot # DISPLAY = tkemc # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.100 # Path to help file HELP_FILE = tklinucnc.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 = 2.2 # Prefix to be used PROGRAM_PREFIX = /home/rainbowcnc/linuxcnc/nc_files # Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 2 # Enable popup balloon help BALLOON_HELP = 1 # 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 = 0.010 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = univstep.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 nanoseconds 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 = univstep_load.hal HALFILE = univstep_servo.hal HALFILE = univstep_motion.hal HALFILE = univstep_io.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 # COORDINATES = X Y Z COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.167 MAX_VELOCITY = 100 DEFAULT_ACCELERATION = 300.0 MAX_ACCELERATION = 500.0 STEPGEN_MAXACCEL = 750.0 # Axes sections --------------------------------------------------------------- # First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 100.20 MAX_ACCELERATION = 750.0 PID_MAX_VEL = 100.25 BACKLASH = 0.000 SCALE = 400 OUTPUT_SCALE = 1.000 MIN_LIMIT = -1500.0 MAX_LIMIT = 1000.0 FERROR = 0.254 MIN_FERROR = 0.0254 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000126 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 FF2 = 0.0 # Second axis [AXIS_1] TYPE = ANGULAR HOME = 0.000 MAX_VELOCITY = 1005 MAX_ACCELERATION = 500.0 PID_MAX_VEL = 1006 BACKLASH = 0.000 SCALE = 100 OUTPUT_SCALE = 1.000 MIN_LIMIT = -3600.0 MAX_LIMIT = 3600.0 FERROR = 0.1 MIN_FERROR = 0.2 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.01 P = 300 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0.0005 FF1 = 1 FF2 = 0.0005 # Third axis [AXIS_2] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 199 MAX_ACCELERATION = 500.0 PID_MAX_VEL = 200 BACKLASH = 0.000 SCALE = 100 OUTPUT_SCALE = 1.000 MIN_LIMIT = -3600.0 MAX_LIMIT = 3600.0 FERROR = 0.10 MIN_FERROR = 0.2 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.0126 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 FF2 = 0.0 # Fourth axis [AXIS_3] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 65 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 66 BACKLASH = 0.000 SCALE = 11.11111111 OUTPUT_SCALE = 1.000 MIN_LIMIT = -3600.0 MAX_LIMIT = 3600.0 FERROR = 0.1 MIN_FERROR = 0.2 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.046 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 FF2 = 0.0 # 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 = univstep.tbl