[EMC] VERSION = 1.1 MACHINE = LinuxCNC-HEXAPOD DEBUG = 0 [DISPLAY] DISPLAY = axis CYCLE_TIME = 0.200 HELP_FILE = tklinuxcnc.txt POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.0 PROGRAM_PREFIX = /home/pi/linuxcnc/nc_files INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 2 PYVCP = panel.xml GEOMETRY = XYZACB [RS274NGC] PARAMETER_FILE = hexapod.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 TRAJ_PERIOD = 10000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [HAL] HALUI = halui HALFILE = core_sim_6.hal HALFILE = hexagui.hal HALFILE = kinematics_SIPP.hal #HALFILE = kinematics.hal POSTGUI_HALFILE = hexapod_postgui.hal [TRAJ] # Note: the HOME Z coordinate should not be zero for this config HOME = 0 0 20 0 0 0 NO_FORCE_HOMING = 1 COORDINATES = X Y Z A B C LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 1.0 MAX_LINEAR_VELOCITY = 10.0 DEFAULT_LINEAR_ACCELERATION = 10.0 MAX_LINEAR_ACCELERATION = 20.0 DEFAULT_ANGULAR_VELOCITY = 6 MAX_ANGULAR_VELOCITY = 6 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = hexapod.tbl [KINS] KINEMATICS = genhexkins JOINTS = 6 [AXIS_X] MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 [JOINT_0] TYPE = LINEAR HOME = 29.7466 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 HOME_OFFSET= 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_SEQUENCE = 0 [AXIS_Y] MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 [JOINT_1] TYPE = LINEAR HOME = 29.7466 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 HOME_OFFSET= 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_SEQUENCE = 0 [AXIS_Z] MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 [JOINT_2] TYPE = LINEAR HOME = 29.7466 MAX_VELOCITY = 20.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 HOME_OFFSET= 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_SEQUENCE = 0 [AXIS_A] MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 [JOINT_3] TYPE = LINEAR HOME = 29.7466 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 HOME_OFFSET= 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_SEQUENCE = 0 [AXIS_B] MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 [JOINT_4] TYPE = LINEAR HOME = 29.7466 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 HOME_OFFSET= 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_SEQUENCE = 0 [AXIS_C] MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 [JOINT_5] TYPE = LINEAR HOME = 29.7466 MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200.0 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 HOME_OFFSET= 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_SEQUENCE = 0