############################################################################### # General section ############################################################################### [EMC] #- Version of this INI file VERSION = $Revision$ #+ Name of machine, for use with display, etc. MACHINE = test_homing_sewing_4axis_hizli #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0 ############################################################################### # Sections for display options ############################################################################### [DISPLAY] #+ Name of display program, e.g., xemc DISPLAY = axis # DISPLAY = usrmot # DISPLAY = mini # DISPLAY = tkemc # DISPLAY = touchy # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.200 #- Path to help file HELP_FILE = tkemc.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 #- Prefix to be used #PROGRAM_PREFIX = /home/gm/emc2/nc_files PROGRAM_PREFIX = /home/argea/linuxcnc/nc_files #- Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 1 GEOMETRY = XYZA ############################################################################### # 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 [RS274NGC] #- File containing interpreter variables PARAMETER_FILE = gm.var ############################################################################### # Motion control section ############################################################################### [EMCMOT] #- Name of the motion controller to use (only one exists for nontrivkins) 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 nanosecs - will be rounded to an int multiple of BASE_PERIOD SERVO_PERIOD = 1000000 ############################################################################### # Hardware Abstraction Layer section ############################################################################### [HAL] # list of hal config files to run through halcmd #+ files are executed in the order in which they appear HALFILE = 4-axis-stepper.hal HALUI = halui ############################################################################### # Trajectory planner section ############################################################################### [TRAJ] #+ machine specific settings AXES = 4 COORDINATES = X Y Z A HOME = 0 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.424 MAX_VELOCITY = 13000.48 DEFAULT_ACCELERATION = 300.0 MAX_ACCELERATION = 500.0 ###MAX_VELOCITY = 10.48 ###DEFAULT_ACCELERATION = 100.0 ###MAX_ACCELERATION = 200.0 ############################################################################### # Axes sections ############################################################################### #+ First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 130.48 STEPGEN_MAXVEL = 0.0 MAX_ACCELERATION = 50.0 STEPGEN_MAXACCEL = 0.0 BACKLASH = 0.000 SCALE = -1000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -191.0 MAX_LIMIT = 310.0 ###MIN_LIMIT = -19.0 ###MAX_LIMIT = 10.0 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 0.0 ###HOME_SEARCH_VEL = 15.0 ###HOME_LATCH_VEL = -2.0 HOME_SEARCH_VEL = -2.0 HOME_LATCH_VEL = 1 HOME_FINAL_VEL = 1 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO ###HOME_SEQUENCE = 1 HOME_SEQUENCE = 1 #+ Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 130.48 STEPGEN_MAXVEL = 0.0 MAX_ACCELERATION = 50.0 STEPGEN_MAXACCEL = 0.0 BACKLASH = 0.000 SCALE = -1000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -250.0 MAX_LIMIT = 310.0 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 0.0 ###HOME_SEARCH_VEL = 15.0 ###HOME_LATCH_VEL = -3.0 HOME_SEARCH_VEL = 2.0 HOME_LATCH_VEL = -1 HOME_FINAL_VEL = -1 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO ###HOME_SEQUENCE = 1 HOME_SEQUENCE = 1 #+ Third axis [AXIS_2] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 1000.48 STEPGEN_MAXVEL = 0.0 MAX_ACCELERATION = 25000.0 STEPGEN_MAXACCEL = 0.0 BACKLASH = 0.000 SCALE = 1000 OUTPUT_SCALE = 10.000 MIN_LIMIT = -9985.0 MAX_LIMIT = 9310.00 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 0.0 ###HOME_SEARCH_VEL = 15.0 ###HOME_LATCH_VEL = -3.0 HOME_SEARCH_VEL = -0.5 HOME_LATCH_VEL = 0.25 HOME_FINAL_VEL = 0.25 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 #+ Fourth axis [AXIS_3] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 1000.48 STEPGEN_MAXVEL = 0.0 MAX_ACCELERATION = 25000.0 STEPGEN_MAXACCEL = 0.0 BACKLASH = 0.000 SCALE = 1000 OUTPUT_SCALE = 10.000 MIN_LIMIT = -9985.0 MAX_LIMIT = 9310.00 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 0.0 ###HOME_SEARCH_VEL = 15.0 ###HOME_LATCH_VEL = -3.0 HOME_SEARCH_VEL = -0.5 HOME_LATCH_VEL = 0.25 HOME_FINAL_VEL = 0.25 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