#
# http://www.linuxcnc.org/docs/devel/html/config/ini_config.html
#
[EMC]
VERSION = 1.0
MACHINE = koppi-cnc-4-joints
DEBUG = 5
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
PYVCP = koppi-cnc-panel.xml
INTRO_GRAPHIC = ""
INTRO_TIME = 0
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 12.0
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_SPINDLE_SPEED = 100
ARCDIVISION = 64
GRIDS = 10.0mm 20.0mm 50.0mm 100.0mm
INCREMENTS = 5.0mm 1.0mm 0.5mm 0.1mm 0.05mm 0.01mm 0.001mm
DEFAULT_LINEAR_VELOCITY = 15.75
MAX_LINEAR_VELOCITY = 30.00
PROGRAM_PREFIX = /home/allan/linuxcnc/nc_files
USER_COMMAND_FILE = koppi-cnc-axis-ui.py
EMBED_TAB_NAME = PYNGC
EMBED_TAB_COMMAND = gladevcp -x {XID} koppi-cnc-pyngc.ui
#EMBED_TAB_NAME = Camera
#EMBED_TAB_COMMAND = mplayer -wid {XID} tv://0 -vf rectangle=-1:2:-1:240,rectangle=2:-1:320:-1 -quiet -really-quiet -noconsolecontrols -slave
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_PREAMBLE =
NGCGUI_SUBFILE = cc_hole.gcmc
NGCGUI_SUBFILE = circle.gcmc
NGCGUI_SUBFILE = edm-pro-box.gcmc
#NGCGUI_POSTAMBLE =
#NGCGUI_OPTIONS =
GCMC_INCLUDE_PATH = ../../nc_files/gcmc_lib
OPEN_FILE =
MDI_HISTORY_FILE = koppi-cnc-history.txt
CYCLE_TIME = 0.05
FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg,.PNG,.GIF,.JPG greyscale depth image
PROGRAM_EXTENSION = .py python script
PROGRAM_EXTENSION = .drl,.DRL excellon drill file
drl = ./drl2ngc
DRL = ./drl2ngc
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
PNG = image-to-gcode
GIF = image-to-gcode
JPG = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.01
[RS274NGC]
PARAMETER_FILE = koppi-cnc.var
USER_M_PATH = ../../nc_files/mfiles
SUBROUTINE_PATH = /home/allan/linuxcnc/nc_files/ngcgui_lib:/home/allan/linuxcnc/nc_files/gcmc_lib:/home/allan/linuxcnc/nc_files/ngcgui_lib/utilitysubs
# Manual tool change + tool lengh touch off
# http://www.linuxcnc.org/index.php/english/forum/10-advanced-configuration/5596-manual-tool-change--tool-lengh-touch-off?start=30#48235
#REMAP = M6 modalgroup=6 ngc=tool-change
#REMAP = M600 modalgroup=6 ngc=tool-job-begin
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.01
SERVO_PERIOD = 500000
[HAL]
HALUI = halui
HALFILE = koppi-cnc.hal
HALFILE = koppi-cnc-axis.hal
HALFILE = koppi-cnc-spindle.hal
HALFILE = koppi-cnc-io.hal
POSTGUI_HALFILE = koppi-cnc-postgui.hal
#HALCMD =
#SHUTDOWN =
[HALUI]
MDI_COMMAND = o call
# see http://7xcnc.com/software/probing/z-touch-plate/
MDI_COMMAND = o call
MDI_COMMAND = o call
MDI_COMMAND = o call
MDI_COMMAND = o call [50] [1] [5] [0.5] [10] [.25] [.25] [0] [0] [0] [25] [5] [0] [0] [10] [20] [0.05] [1]
MDI_COMMAND = o call
MDI_COMMAND = o call
MDI_COMMAND = o call
MDI_COMMAND = o call
MDI_COMMAND = o call
[USER_COMMANDS]
LOAD_LASTFILE = YES
#USER0 = #setp iocontrol.0.lube_level 1
#USER1 = G0 X0 Y0 Z0
#NUMBERKEYS = YES
# DISABLE_PREVIEW = YES
[TRAJ]
COORDINATES = XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.01
DEFAULT_VELOCITY = 18.00
MAX_ACCELERATION = 750.0
NO_FORCE_HOMING = 1
POSITION_FILE = koppi-cnc-pos.txt
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = koppi-cnc-tool.txt
#TOOL_CHANGE_POSITION = 110 125 70
TOOL_CHANGE_AT_G30 = 0
[KINS]
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
JOINTS = 4
[LCEC]
CONFIG = koppi-cnc.xml
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 220.00001
MAX_VELOCITY = 18.00
MAX_ACCELERATION = 750.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = -1
VOLATILE_HOME = 1
#HOME_SEQUENCE = 1
#HOME_SEARCH_VEL = 2.0
#HOME_LATCH_VEL = -1.0
#HOME_IGNORE_LIMITS = yes
BACKLASH = 0.083
MAX_VELOCITY = 18.00
MAX_ACCELERATION = 750
SCALE = 133.333333333
# 200 steps/rev * 64 micro steps / 3mm axis pitch
#ENC_SCALE = 4266.666666667
# 8000 steps/rev / 3mm axis pitch
ENC_SCALE = 2666.666666667
FERROR = 0.55
MIN_LIMIT = -10.0
MAX_LIMIT = 250.00001
# Position controller parameters
P = 150.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.25
FF2 = 0.0
DEADBAND = 0.0000999
MAX_OUTPUT = 200.0
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 220.00001
MAX_VELOCITY = 18.00
MAX_ACCELERATION = 750.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = -1
VOLATILE_HOME = 1
#HOME_SEQUENCE = 1
#HOME_SEARCH_VEL = 2.0
#HOME_LATCH_VEL = -1.0
#HOME_IGNORE_LIMITS = yes
BACKLASH = 0.083
MAX_VELOCITY = 18.00
MAX_ACCELERATION = 750
SCALE = 133.333333333
# 200 steps/rev * 64 micro steps / 3mm axis pitch
#ENC_SCALE = 4266.666666667
# 8000 steps/rev / 3mm axis pitch
ENC_SCALE = 2666.666666667
FERROR = 0.55
MIN_LIMIT = -10.0
MAX_LIMIT = 250.00001
# Position controller parameters
P = 150.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.25
FF2 = 0.0
DEADBAND = 0.0000999
MAX_OUTPUT = 200.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = -1
VOLATILE_HOME = 1
#HOME_SEQUENCE = 1
#HOME_SEARCH_VEL = 2.0
#HOME_LATCH_VEL = -1.0
#HOME_IGNORE_LIMITS = yes
BACKLASH = 0.083
MAX_VELOCITY = 18.00
MAX_ACCELERATION = 750
SCALE = 133.333333333
# 200 steps/rev * 64 micro steps / 3mm axis pitch
ENC_SCALE = 4266.666666667
FERROR = 0.55
MIN_LIMIT = -10.0
MAX_LIMIT = 250.00001
# Position controller parameters
P = 150.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.25
FF2 = 0.0
DEADBAND = 0.0000999
MAX_OUTPUT = 200.0
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 220.00001
MAX_VELOCITY = 18.00
MAX_ACCELERATION = 750.0
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = -1
VOLATILE_HOME = 1
#HOME_SEQUENCE = 1
#HOME_SEARCH_VEL = 2.0
#HOME_LATCH_VEL = -1.0
#HOME_IGNORE_LIMITS = yes
BACKLASH = 0.083
MAX_VELOCITY = 18.00
MAX_ACCELERATION = 750
SCALE = 133.333333333
# 200 steps/rev * 64 micro steps / 3mm axis pitch
ENC_SCALE = 4266.666666667
FERROR = 0.55
MIN_LIMIT = -10.0
MAX_LIMIT = 250.00001
# Position controller parameters
P = 150.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.25
FF2 = 0.0
DEADBAND = 0.0000999
MAX_OUTPUT = 200.0
# EOF