# EMC controller parameters for a simulated 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 = 1.1 MACHINE = Erna_v1e DEBUG = 0 # Sections for display options ------------------------------------------------ [DISPLAY] # required NativeCAM item : NCAM_DIR = ncam # required NativeCAM item : PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files # required NativeCAM item : EMBED_TAB_NAME = right_side_panel # required NativeCAM item : #EMBED_TAB_LOCATION = ntb_user_tabs EMBED_TAB_LOCATION = box_right # required NativeCAM item : EMBED_TAB_COMMAND = gladevcp -x {XID} -U --catalog=lathe ncam.ui LATHE = 1 DISPLAY = gmoccapy # Cycle time, in milliseconds, that display will sleep between polls CYCLE_TIME = 100 # Highest value that will be allowed for feed override, 1.0 = 100% MIN_FEED_OVERRIDE = 0 MAX_FEED_OVERRIDE = 1.5 MIN_SPINDLE_OVERRIDE = .5 MAX_SPINDLE_OVERRIDE = 1.2 # Max and default jog speeds in units per second MAX_LINEAR_VELOCITY = 500 DEFAULT_LINEAR_VELOCITY = 300 MAX_ANGULAR_VELOCITY = 200 # Prefix to be used #PROGRAM_PREFIX = /home/fernand/linuxcnc/nc_files # Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 2 # list of selectable jog increments INCREMENTS = 5.0mm 1.0mm 0.5mm 0.1mm 0.05mm 0.01mm 0.001mm [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 [PYTHON] PATH_PREPEND = ./python TOPLEVEL = python/toplevel.py # Task controller section ----------------------------------------------------- [RS274NGC] # required NativeCAM item : SUBROUTINE_PATH = ncam/my-stuff:ncam/lib/lathe:ncam/lib/utilities/ PARAMETER_FILE = mill.var # aus Linuxcnc http://linuxcnc.org/docs/html/lathe/lathe-user.html #g-code modal codes (modes) that the interpreter is initialized with on startup RS274NGC_STARTUP_CODE = G18 G20 G90 # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 100000 SERVO_PERIOD = 1000000 # Hardware Abstraction Layer section -------------------------------------------------- [TASK] TASK = milltask CYCLE_TIME = 0.001 # Part program interpreter section -------------------------------------------- [HAL] HALFILE = Erna_V1.hal HALFILE = xhc-whb04b-6.hal # Single file that is executed after the GUI has started. #POSTGUI_HALFILE = gmoccapy_postgui.hal HALUI = halui # Trajectory planner section -------------------------------------------------- [HALUI] MDI_COMMAND=(debug,00) MDI_COMMAND=(debug,macro1) MDI_COMMAND=(debug,macro2) MDI_COMMAND=(debug,macro3) MDI_COMMAND=(debug,macro4) MDI_COMMAND=G1 G53 X0 Y0 Z0 F4000 MDI_COMMAND=(debug,macro6) MDI_COMMAND=G1 X0 Y0 Z0 F4000 MDI_COMMAND=(debug,macro8) MDI_COMMAND=(debug,macro9) MDI_COMMAND=(debug,macro10) MDI_COMMAND=(debug,macro11) MDI_COMMAND=(debug,macro12) MDI_COMMAND=(debug,macro13) MDI_COMMAND=(debug,macro14) MDI_COMMAND=(debug,macro15) MDI_COMMAND=(debug,macro16) MDI_COMMAND=G1 G53 Z0 F4000 MDI_COMMAND=(debug,macro17) MDI_COMMAND=(debug,macro18) MDI_COMMAND=(debug,macro19) [TRAJ] AXES = 2 COORDINATES = X Z HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_LINEAR_VELOCITY = 10 MAX_VELOCITY = 20 # not needed in demo #POSITION_FILE = mill.pos #NO_FORCE_HOMING = 1 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 # tool table file, TOOL_TABLE = lathe_mm.tbl # not needed in demo #TOOL_CHANGE_POSITION = 100 100 -10 #TOOL_CHANGE_QUILL_UP = 1 [KINS] KINEMATICS = trivkins #HF hier gilt für 3=> 0=x 1=y 2=z usw.. JOINTS = 3 [LCEC] CONFIG = ethercat-conf.xml #HF immer minumum 3 Achsen Anlegen und unbenötigte Achsen HOME_SEQUENCE = 0 [AXIS_X] MIN_LIMIT = -250.0 MAX_LIMIT = 250.0 MAX_VELOCITY = 20 MAX_ACCELERATION = 50.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 HOME_OFFSET = 0.0 HOME_SEQUENCE = 0 VOLATILE_HOME = 0 SCALE = 100 ENC_SCALE = 4096 FERROR = 1 MIN_LIMIT = -250.0 MAX_LIMIT = 250.0 MAX_VELOCITY = 20 MAX_ACCELERATION = 50.0 BACKLASH = 0.000 P = 150.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 DEADBAND = 0.001 MAX_OUTPUT = 200.0 [AXIS_Y] MIN_LIMIT = -250.0 MAX_LIMIT = 250.0 MAX_VELOCITY = 800 MAX_ACCELERATION = 50.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 HOME_OFFSET = 0.0 HOME_SEQUENCE = 0 VOLATILE_HOME = 0 SCALE = 100 ENC_SCALE = 4096 FERROR = 1 MIN_LIMIT = -250.0 MAX_LIMIT = 250.0 MAX_VELOCITY = 800 MAX_ACCELERATION = 50.0 BACKLASH = 0.000 [AXIS_Z] MIN_LIMIT = -500 MAX_LIMIT = 500 MAX_VELOCITY = 20 MAX_ACCELERATION = 50.0 [JOINT_2] TYPE = LINEAR HOME = 0.0 HOME_OFFSET = 0.0 HOME_SEQUENCE = 0 VOLATILE_HOME = 0 SCALE = 100 ENC_SCALE = 4096 FERROR = 1 MIN_LIMIT = -500 MAX_LIMIT = 500 MAX_VELOCITY = 20 MAX_ACCELERATION = 50.0 BACKLASH = 0.000 P = 150.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 DEADBAND = 0.001 MAX_OUTPUT = 200.0 # section for main IO controller parameters ----------------------------------- [MACROS] MACRO = i_am_lost MACRO = halo_world MACRO = jog_around MACRO = increment xinc yinc MACRO = go_to_position X-pos Y-pos Z-pos