# this section only reqired if using the sim testing panel [APPLICATIONS] #DELAY = 3 #APP = ./test/plasmac_test.py # this section only required if any of the options need to be specified [PLASMAC] # sets the operating mode, if not specified the default is 0 # 0 = use arc-voltage-in for arcOK and THC (no need to connect arc-ok-in, move-up-in and move-down-in) # 1 = use arc-ok-in for arcOK and arc-voltage-in for THC (no need to connect move-up-in and move-down-in) # 2 = use arc-ok-in for arcOK and move-down-in + move-up-in for THC (no need to connect arc-voltage-in) MODE = 1 # sets the type of IHS skip, if not specified the default is 0 # 0 = if start of cut within skip-ihs-distance of last successful probe # 1 = if start of cut within skip-ihs-distance of end of last cut and THC is enabled SKIP_IHS_TYPE = 0 # enable(0) or disable(1) the gladevcp config page, if not specified the default is enabled CONFIG_DISABLE = 0 # for the four user buttons # the text that appears on the button # for multiple lines, split the lines with a \ # e.g. BUTTON_1_NAME = Clear \ Coordinates or #BUTTON_n_NAME BUTTON_1_NAME = Ohmic Test BUTTON_2_NAME = Z To Top BUTTON_3_NAME = Load Sheet BUTTON_4_NAME = HAL Show # the command that the button sends # for multiple lines, split the lines with a \ # e.g. BUTTON_1_NAME = Clear \ Coordinates or # e.g. BUTTON_1_CODE = g0 x0 \ g1x10f100 \ g0x0 # ini file settings can be used, must be followed by space if anything follows # e.g. G0 X[JOINT_0]HOME # e.g. G0 X[JOINT_0]HOME Y1 # for an external command precede the command with % # e.g. %halshow # external commands and gcode may be on the same code line # e.g %halshow \ g0x.5y.5 \ %halmeter # there are three special commands: # dry-run probe-test ohmic-test # using these will set/reset the corresponding hal pin in the component #BUTTON_n_CODE BUTTON_1_CODE = ohmic-test BUTTON_2_CODE = G53 G0 Z[AXIS_Z]MAX_LIMIT BUTTON_3_CODE = G53 G0 X[JOINT_0]HOME Y1 BUTTON_4_CODE = %halshow # this section required as is for remapping gcode f word [PYTHON] PATH_PREPEND = ./python TOPLEVEL = ./python/toplevel.py # this section required as is for removing z axis moves from the loaded gcode file # this is optional and if used then plasmac_gcode.py needs to be set as executable [FILTER] PROGRAM_EXTENSION = .ngc remove z axis stuff ngc = ./plasmac_gcode.py [EMC] VERSION = 1.1 # have plasma somewhere in here to enable the axis_tweaks MACHINE = darrens_plasmac DEBUG = 0 [HAL] # required TWOPASS = ON #HALFILE HALFILE = machine.hal #required HALFILE = plasmac.hal # required HALUI = halui [DISPLAY] DISPLAY = gmoccapy POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.5 PROGRAM_PREFIX = ../../nc_files INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 1 CYCLE_TIME = 150 INCREMENTS = 10, 1, .1, .01, .001 OPEN_FILE = ../../nc_files/plasmac/metric_squares.ngc EDITOR = leafpad TOOL_EDITOR = tooledit DIAM MDI_HISTORY_FILE = metric_mdi_history.txt # required EMBED_TAB_NAME = plasmac_buttons EMBED_TAB_LOCATION = box_cooling EMBED_TAB_COMMAND = gladevcp -c plasmac_buttons -x {XID} -u ./plasmac_buttons.py -H ./plasmac_buttons.hal plasmac_buttons.glade EMBED_TAB_NAME = plasmac_control EMBED_TAB_LOCATION = box_spindle EMBED_TAB_COMMAND = gladevcp -c plasmac_control -x {XID} -u ./plasmac_control.py -H ./plasmac_control.hal plasmac_control.glade EMBED_TAB_NAME = Statistics EMBED_TAB_LOCATION = ntb_preview EMBED_TAB_COMMAND = gladevcp -c plasmac_stats -x {XID} -u ./plasmac_stats.py -H ./plasmac_stats.hal plasmac_stats.glade # use either the next 6 for the panel and config on the left side #EMBED_TAB_NAME = plasmac_panel #EMBED_TAB_LOCATION = box_left #EMBED_TAB_COMMAND = gladevcp -c plasmac_panel -x {XID} -u ./plasmac_panel.py -H plasmac_panel.hal plasmac_panel_left.glade #EMBED_TAB_NAME = plasmac_monitor #EMBED_TAB_LOCATION = box_tool_and_code_info #EMBED_TAB_COMMAND = gladevcp -c plasmac_monitor -x {XID} -u plasmac_monitor.py -H plasmac_monitor.hal plasmac_monitor.glade # or the next 9 for the panel and config behind the preview EMBED_TAB_NAME = Plasma Run EMBED_TAB_LOCATION = ntb_preview EMBED_TAB_COMMAND = gladevcp -c plasmac_run -x {XID} -u ./plasmac_run.py -H plasmac_run.hal plasmac_run.glade EMBED_TAB_NAME = Plasma Config EMBED_TAB_LOCATION = ntb_preview EMBED_TAB_COMMAND = gladevcp -c plasmac_config -x {XID} -u ./plasmac_config.py -H plasmac_config.hal plasmac_config.glade EMBED_TAB_NAME = plasmac_monitor EMBED_TAB_LOCATION = box_tool_and_code_info EMBED_TAB_COMMAND = gladevcp -c plasmac_monitor -x {XID} -u plasmac_monitor.py -H plasmac_monitor_wide.hal plasmac_monitor_wide.glade [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] RS274NGC_STARTUP_CODE = o call PARAMETER_FILE = metric_parameters.txt # required, ./ must be in this path SUBROUTINE_PATH = ./:../../nc_files/subroutines # required for reading ini and hal variables FEATURES = 12 # required for remapping gcode f word REMAP = F prolog=plasmac_feed_prolog ngc=plasmac_feed epilog=plasmac_feed_epilog [EMCMOT] EMCMOT = motmod #COMM_TIMEOUT = 1.0 #COMM_WAIT = 0.010 BASE_PERIOD = 32000 SERVO_PERIOD = 1000000 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = metric_tool.tbl [KINS] KINEMATICS = trivkins coordinates=xyz JOINTS = 3 [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 13.33 MAX_LINEAR_VELOCITY = 133.33 POSITION_FILE = metric_position.txt #******************** # Axis X #******************** [AXIS_X] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 2500 STEPSPACE = 5000 STEP_SCALE = 15.913 HOME_OFFSET = -5 .000000 HOME_SEARCH_VEL = -5.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 1.666667 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 MIN_LIMIT = -0.01 MAX_LIMIT = 1180.0 MAX_VELOCITY = 133.333333333 STEPGEN_MAXVEL = 166.666625 MAX_ACCELERATION = 750.0 STEPGEN_MAXACCEL = 937.50 [JOINT_0] MIN_LIMIT = -0.01 MAX_LIMIT = 1180.0 MAX_VELOCITY = 133.333333333 MAX_ACCELERATION = 750 # The value below should be 25% larger than MAX_ACCELERATION STEPGEN_MAXACCEL = 937.50 STEPGEN_MAXVEL = 166.666625 TYPE = LINEAR MIN_FERROR = 1 FERROR = 10 HOME = 0.0 HOME_OFFSET = -5 HOME_SEQUENCE = 1 HOME_SEARCH_VEL = -5 HOME_LATCH_VEL = -.5 HOME_FINAL_VEL = 1.666667 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES SCALE = 15.913 STEPLEN = 2500 STEPSPACE = 5000 DIRSETUP = 5000 DIRHOLD = 5000 #******************** # Axis Y #******************** [AXIS_Y] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 2500 STEPSPACE = 5000 STEP_SCALE = -15.9134309 HOME_OFFSET = 5.000000 HOME_SEARCH_VEL = 5.000000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 1.666667 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 MIN_LIMIT = -1680.0 MAX_LIMIT = 0.01 MAX_VELOCITY = 133.333333333 STEPGEN_MAXVEL = 166.666625 MAX_ACCELERATION = 750.0 STEPGEN_MAXACCEL = 937.50 [JOINT_1] MIN_LIMIT = -1680 MAX_LIMIT = 0.01 MAX_VELOCITY = 133.333333333 MAX_ACCELERATION = 750 # The value below should be 25% larger than MAX_ACCELERATION STEPGEN_MAXVEL = 166.666625 STEPGEN_MAXACCEL = 937.50 TYPE = LINEAR MIN_FERROR = 1 FERROR = 10 HOME = 0.0 HOME_OFFSET = 5 HOME_SEQUENCE = 2 HOME_SEARCH_VEL = 5 HOME_LATCH_VEL = .5 HOME_FINAL_VEL = 1.666667 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES SCALE = -15.9134309 STEPLEN = 2500 STEPSPACE = 5000 DIRSETUP = 5000 DIRHOLD = 5000 [AXIS_Z] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 2500 STEPSPACE = 5000 STEP_SCALE = -80.0 HOME_OFFSET = 12.000000 HOME_SEARCH_VEL =1.666667 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 1.666667 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # this should be the top of your slats MIN_LIMIT = -67.0 MAX_LIMIT = 0.01 # required, set to double the value in the corresponding joint MAX_VELOCITY = 150 # required, set to double the value in the corresponding joint MAX_ACCELERATION = 500 # required, shares the above two equally between the axis/joint and the offset OFFSET_AV_RATIO = 0.5 #NOT SURE IF THE 2 FOLLOWING NEED TO BE DOUBLE STEPGEN_MAXACCEL = 937.5 STEPGEN_MAXVEL = 125 [JOINT_2] # this should be the top of your slats MIN_LIMIT = -67 MAX_LIMIT = 0.01 MAX_VELOCITY = 75 MAX_ACCELERATION = 250 # The value below should be 25% larger than MAX_ACCELERATION STEPGEN_MAXACCEL = 937.5 STEPGEN_MAXVEL = 125 TYPE = LINEAR MIN_FERROR = 1 FERROR = 10 HOME = 0 HOME_OFFSET = 12 HOME_SEQUENCE = 0 HOME_SEARCH_VEL = 1.666667 HOME_LATCH_VEL = .5 HOME_FINAL_VEL = 1.666667 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES STEPGEN_MAXACCEL = 937.5 SCALE = -80 STEPLEN = 2500 STEPSPACE = 5000 DIRSETUP = 5000 DIRHOLD = 5000