[EMC] VERSION = 1.1 MACHINE = sim-xyzac-trt DEBUG = 0 [DISPLAY] OPEN_FILE = ./examples/impeller-7bl-xyzac.ngc JOG_AXES = XYZC DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2 PROGRAM_PREFIX = ../../nc_files INTRO_GRAPHIC = emc2.gif INTRO_TIME = 1 #EDITOR = gedit TOOL_EDITOR = tooledit z diam TKPKG = Ngcgui 1.0 NGCGUI_FONT = Helvetica -12 normal NGCGUI_SUBFILE = test-xyzac.ngc [RS274NGC] SUBROUTINE_PATH = ./examples PARAMETER_FILE = xyzac.var [HAL] HALUI = halui HALFILE = LIB:basic_sim.tcl # vismach xyzac-trt-gui items HALCMD = loadusr -W xyzac-trt-gui HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c HALCMD = net :tool-offset motion.tooloffset.z HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset HALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset HALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset HALCMD = sets :y-offset 20 HALCMD = sets :z-offset 10 [KINS] KINEMATICS = xyzac-trt-kins JOINTS = 5 [TRAJ] COORDINATES = XYZAC LINEAR_UNITS = mm ANGULAR_UNITS = deg DEFAULT_LINEAR_VELOCITY = 20 MAX_LINEAR_VELOCITY = 35 MAX_LINEAR_ACCELERATION = 400 DEFAULT_LINEAR_ACCELERATION = 300 [EMCMOT] EMCMOT = motmod SERVO_PERIOD = 1000000 COMM_TIMEOUT = 1 [TASK] TASK = milltask CYCLE_TIME = 0.010 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = xyzac-trt.tbl [AXIS_X] MIN_LIMIT = -200 MAX_LIMIT = 200 MAX_VELOCITY = 20 MAX_ACCELERATION = 300 [JOINT_0] TYPE = LINEAR HOME = 0 MAX_VELOCITY = 20 MAX_ACCELERATION = 300 MIN_LIMIT = -200 MAX_LIMIT = 200 HOME_SEARCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_Y] MIN_LIMIT = -100 MAX_LIMIT = 100 MAX_VELOCITY = 20 MAX_ACCELERATION = 300 [JOINT_1] TYPE = LINEAR HOME = 0 MAX_VELOCITY = 20 MAX_ACCELERATION = 300 MIN_LIMIT = -100 MAX_LIMIT = 100 HOME_SEARCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_Z] MIN_LIMIT = -120 MAX_LIMIT = 120 MAX_VELOCITY = 20 MAX_ACCELERATION = 300 [JOINT_2] TYPE = LINEAR HOME = 0 MAX_VELOCITY = 20 MAX_ACCELERATION = 300 MIN_LIMIT = -120 MAX_LIMIT = 120 HOME_SEARCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_A] MIN_LIMIT = -100 MAX_LIMIT = 50 MAX_VELOCITY = 30 MAX_ACCELERATION = 300 [JOINT_3] TYPE = ANGULAR HOME = 0 MAX_VELOCITY = 30 MAX_ACCELERATION = 300 MIN_LIMIT = -100 MAX_LIMIT = 50 HOME_SEARCH_VEL = 0 HOME_SEQUENCE = 0 [JOINT_4] TYPE = ANGULAR HOME = 0 MAX_VELOCITY = 30 MAX_ACCELERATION = 300 MIN_LIMIT = -36000 MAX_LIMIT = 36000 HOME_SEARCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_C] MIN_LIMIT = -36000 MAX_LIMIT = 36000 MAX_VELOCITY = 30 MAX_ACCELERATION = 300 [JOINT_5] TYPE = ANGULAR HOME = 0 MAX_VELOCITY = 30 MAX_ACCELERATION = 300 MIN_LIMIT = -36000 MAX_LIMIT = 36000 HOME_SEARCH_VEL = 0 HOME_SEQUENCE = 0 [JOINT_8] TYPE = LINEAR HOME = 0 MAX_VELOCITY = 200 MAX_ACCELERATION = 800 MIN_LIMIT = -500 MAX_LIMIT = 500 HOME_SEARCH_VEL = 0 HOME_SEQUENCE = 0