# 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 = EMC-MOTENC_4 # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 #DEBUG = 0x00000007 DEBUG = 0 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., tkemc #DISPLAY = tkemc DISPLAY = axis PYVCP= spindle.xml #MODE = world # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.0500 # 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 = 3.0 # Prefix to be used PROGRAM_PREFIX = /home/andrey/emc2/nc_files # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0.1 # Task controller section ----------------------------------------------------- [TASK] # Name of task controller program, e.g., milltask TASK = milltask spindle.xml # 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 = motenc.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 # Base task period, in nano-seconds - this is the fastest thread in the machine BASE_PERIOD = 50000 # 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 = kinematics.hal HALFILE = core_servo.hal HALFILE = motenc_motion.hal HALFILE = motenc_io.hal #HALFILE = stepper.hal #HALFILE = stepper_parport.hal HALUI = halui #HALFILE = my_postgui.hal #POSTGUI_HALFILE = spindle_to_pyvcp.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 = 4 # COORDINATES = X Y Z R P W COORDINATES = X Y Z A HOME = 0 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 500.0 MAX_VELOCITY = 500.0 DEFAULT_ACCELERATION = 5000.0 MAX_ACCELERATION = 5000.0 # Axes sections --------------------------------------------------------------- # First axis [AXIS_0] # TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 500.0 MAX_ACCELERATION = 1000.0 BACKLASH = 0.000 INPUT_SCALE = 620.00 OUTPUT_SCALE = 1.0 OUTPUT_OFFSET = 0.00 MIN_LIMIT = -5000.0 MAX_LIMIT = 5000.0 FERROR = 1.0 MIN_FERROR = 1.0 HOME_OFFSET = 0.10 HOME_SEARCH_VEL = -30.00 HOME_LATCH_VEL = -10.00 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 MAX_OUTPUT = 10.0 # PID tuning params DEADBAND = 0.000015 P = 6.00 I = 5.00 D = 0.01 FF0 = 0.000 FF1 = 0.000 FF2 = 0.0 BIAS = 0.000 # Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 500.0 MAX_ACCELERATION = 1000.0 BACKLASH = 0.000 INPUT_SCALE = -620.00 OUTPUT_SCALE = -1.0 OUTPUT_OFFSET = 0.00 MIN_LIMIT = -5000.0 MAX_LIMIT = 5000.0 FERROR = 1 MIN_FERROR = 1.0 HOME_OFFSET = 0.10 HOME_SEARCH_VEL = -30.00 HOME_LATCH_VEL = -10.00 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 MAX_OUTPUT = 10.0 # PID tuning params DEADBAND = 0.000015 P = 6 I = 5 D = 0.1 FF0 = 0.000 FF1 = 0.000 FF2 = 0.0 BIAS = 0.000 # Third axis [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 800.0 BACKLASH = 0.000 INPUT_SCALE = -310.00 OUTPUT_SCALE = -1.0 OUTPUT_OFFSET = 0.0 MIN_LIMIT = -5000.0 MAX_LIMIT = 5000.0 FERROR = 1.0 MIN_FERROR = 0.1 HOME_OFFSET = 0.10 HOME_SEARCH_VEL = -30 HOME_LATCH_VEL = -10 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 MAX_OUTPUT = 10.0 # PID tuning params DEADBAND = 0.000015 P = 6.00 I = 5.00 D = 0.01 FF0 = 0.000 FF1 = 0.000 FF2 = 0.0 BIAS = 0.000 # First axis [AXIS_3] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 500.0 MAX_ACCELERATION = 1000.0 BACKLASH = 0.000 INPUT_SCALE = 620.00 OUTPUT_SCALE = 1.0 OUTPUT_OFFSET = 0.00 MIN_LIMIT = -5000.0 MAX_LIMIT = 5000.0 FERROR = 20.0 MIN_FERROR = 1.0 HOME_OFFSET = 0.10 HOME_SEARCH_VEL = -30.00 HOME_LATCH_VEL = -10.00 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 MAX_OUTPUT = 10.0 # PID tuning params DEADBAND = 0.000015 P = 6.0 I = 5.0 D = 0.01 FF0 = 0.000 FF1 = 0.000 FF2 = 0.0 BIAS = 0.000 # 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 = motenc.tbl