# 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. # Settings with a + at the front of the comment are likely needed to get # changed by the user. # Settings with a - at the front are highly unneeded to be changed ############################################################################### # General section ############################################################################### [EMC] #- Version of this INI file VERSION = $Revision: 2.7.8 $ #+ Name of machine, for use with display, etc. MACHINE = LINUXCNC-1BP # OPEN_FILE = /full/path/to/filename.ngc (if you want to open with a certain file) # I modified /usr/bin/axis. See Start with last_ngc_used in Documents folder.Axis starts last ngc file used. # It may stop working if system gets updated and have to be re-implemented. OPEN_FILE = /home/jack/linuxcnc/configs/bridgeport/ngc_files/"lastfile" #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0 # DEBUG = 0x00000007 (The next line causes debug to start when emc is started in the terminal ie: >linuxcnc DEBUG = 0x7FFFFFFF ############################################################################### # Sections for display options ############################################################################### [DISPLAY] #+ Name of display program, e.g., xemc DISPLAY = axis # DISPLAY = usrmot # DISPLAY = mini # DISPLAY = tkemc PYVCP = ContIndicator.xml # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.200 INCREMENTS = 0.010 0.001 0.0004 #- Path/name of 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 = COMMANDED #+ Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 1.0 #+ The max linear velocity for linear jogs in machine units/sec MAX_LINEAR_VELOCITY = 0.8 MIN_VELOCITY = .002 #- Prefix to be used - Path to ngc files PROGRAM_PREFIX = /home/jack/linuxcnc/configs/bridgeport/ngc_files #- Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 EDITOR = gedit OPEN_FILE = /home/jack/linuxcnc/configs/bridgeport/ngc_files/MillRectSlot.ngc ############################################################################### # Filter section ############################################################################### [FILTER] PROGRAM_EXTENSION = .py Python Script py = python ############################################################################### # Task controller section ############################################################################### [TASK] #- Name of task controller program, e.g., bridgeporttask TASK = milltask #- 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 = stepper.var ############################################################################### # Motion control section ############################################################################### [EMCMOT] #- Name of the motion controller to use (only one exists for nontrivkins) EMCMOT = motmod #- Key for real OS shared memory, e.g., for simulated motion SHMEM_KEY = 111 #- 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 nanosecs - this is the fastest thread in the machine BASE_PERIOD = 150000 #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD SERVO_PERIOD = 1000000 #- Trajectory Planner task period, in nanosecs - will be rounded to an # integer multiple of SERVO_PERIOD TRAJ_PERIOD = 1000000 ############################################################################### # Hardware Abstraction Layer section ############################################################################### [HAL] HALFILE = 1BPstepper.hal #HALFILE = 1OrigPinout.hal HALFILE = 2X-BoxPinOut.hal #POSTGUI_HALFILE = 2X-BoxJogRunPause.hal #POSTGUI_HALFILE = 1OrigJogRunPause.hal POSTGUI_HALFILE = LogitechOneHand.hal HALUI = halui #HALCMD = save neta ############################################################################### # Trajectory planner section ############################################################################### [TRAJ] #+ machine specific settings AXES = 3 COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 MAX_VELOCITY = 2.0 MAX_ACCELERATION = 4.0 POSITION_FILE = position.txt # Commenting out the following line will force you to home all axes # before you can run any programs. That is a safety feature, but # can be a nuisance if you are just testing gcode with the motors off. NO_FORCE_HOMING=1 ############################################################################### # Axes sections ############################################################################### # Axis X Joint 0 Parport 1 [AXIS_0] TYPE = LINEAR HOME = 0.000 # NOTE: the step generator module applies its own limits to # acceleration and velocity. We have discovered that it needs # to have a little "headroom" over the accel by the trajectory # planner, otherwise it can fall slightly behind during accel # and later overshoot as it catches up. In the long term we # hope to come up with a clean fix for this problem. In the # meantime, please set STEPGEN_MAXACCEL below to a few percent # higher than the regular acceleration limit MAX_ACCELERATION # Units= inches/second #MAX_VELOCITY = 0.8 was missing steps MAX_VELOCITY = 0.7 #0.7*60 = 42ipm MAX_ACCELERATION = 4 STEPGEN_MAXVEL = 1.2 STEPGEN_MAXACCEL = 8 COMP_FILE = comp0_X.fil COMP_FILE_TYPE = 0 SCALE = 2500 OUTPUT_SCALE = 1.000 MIN_LIMIT = -13.0000 MAX_LIMIT = 13.0000 HOME_OFFSET = -13.0 HOME_SEARCH_VEL = -0.8 HOME_LATCH_VEL = 0.05 HOME_FINAL_VEL = .8 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # Second axis Y Joint1 Parport 2 [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 0.6 MAX_ACCELERATION = 4.0 STEPGEN_MAXVEL = 1.1 STEPGEN_MAXACCEL = 8 COMP_FILE = comp1_Y.fil COMP_FILE_TYPE = 0 SCALE = 2500 OUTPUT_SCALE = 1.000 MIN_LIMIT = -5.45 MAX_LIMIT = 5.45 FERROR = 0.050 MIN_FERROR = 0.010 HOME_OFFSET = 5.45 HOME_SEARCH_VEL = .5 HOME_LATCH_VEL = -0.05 HOME_FINAL_VEL = .66 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # Axis Z Joint2 Parport 0 [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4 STEPGEN_MAXVEL = 2.0 STEPGEN_MAXACCEL = 8 SCALE = 2000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -4.800 MAX_LIMIT = 0.1 FERROR = 0.050 MIN_FERROR = 0.010 HOME_OFFSET = 0.01 HOME_SEARCH_VEL = .2 BACKLASH = 0.0005 HOME_LATCH_VEL = -0.03 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES 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 #- tool table file TOOL_TABLE = tooltable.tbl