# EMC controller parameters for a simulated machine. # 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 = 1.1 # Name of machine, for use with display, etc. MACHINE = LinuxCNC-HAL-SIM-AXIS # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x7FFFFFFF DEBUG = 0 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., axis DISPLAY = axis # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.100 # Path to help file HELP_FILE = doc/help.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 = 1.2 MAX_SPINDLE_OVERRIDE = 1.0 MAX_LINEAR_VELOCITY = 5 DEFAULT_LINEAR_VELOCITY = .25 DEFAULT_SPINDLE_SPEED = 200 # Prefix to be used PROGRAM_PREFIX = /home/pi/linuxcnc/nc_files # Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 #EDITOR = gedit TOOL_EDITOR = tooledit INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python # Task controller section ----------------------------------------------------- [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.001 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = sim.var # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 COMM_WAIT = 0.100 # BASE_PERIOD is unused in this configuration but specified in core_sim.hal BASE_PERIOD = 50000 # Servo task period, in nano-seconds SERVO_PERIOD = 1000000 # 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 = sim.tbl TOOL_CHANGE_POSITION = 0 0 0 TOOL_CHANGE_QUILL_UP = 1 # Hardware Abstraction Layer section -------------------------------------------------- [HAL] HALFILE = ethercat.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 = core_sim.hal #HALFILE = sim_spindle_encoder.hal #HALFILE = axis_manualtoolchange.hal #HALFILE = simulated_home.hal #HALFILE = check_xyz_constraints.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Single file that is executed after the GUI has started. Only supported by # AXIS at this time (only AXIS creates a HAL component of its own) #POSTGUI_HALFILE = test_postgui.hal HALUI = halui # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 COORDINATES = XYZ LINEAR_UNITS = inch ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 4 DEFAULT_LINEAR_ACCELERATION = 100 MAX_LINEAR_ACCELERATION = 100 POSITION_FILE = position.txt [KINS] KINEMATICS = trivkins coordinates=xyz JOINTS = 3 # Axes sections --------------- [AXIS_X] MAX_VELOCITY = 4 MAX_ACCELERATION = 100.0 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 [AXIS_Y] MAX_VELOCITY = 4 MAX_ACCELERATION = 100.0 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 [AXIS_Z] MAX_VELOCITY = 4 MAX_ACCELERATION = 100.0 MIN_LIMIT = -8.0 MAX_LIMIT = 0.12 # Joints sections ------------- [JOINT_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 5 MAX_ACCELERATION = 50.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 FERROR = 1.050 MIN_FERROR = 1.010 MIN_LIMIT = -10.0 MAX_LIMIT = 100.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 20.0 HOME_LATCH_VEL = 20.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 HOME_IS_SHARED = 1 [JOINT_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 5 MAX_ACCELERATION = 50.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 FERROR = 1.050 MIN_FERROR = 1.010 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 20.0 HOME_LATCH_VEL = 20.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 [JOINT_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 5 MAX_ACCELERATION = 50.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -8.0 # Normally the Z max should be 0.000! # The only reason it's greater than 0 here is so that the splash screen # gcode will run. MAX_LIMIT = 0.12 FERROR = 1.050 MIN_FERROR = 1.010 HOME_OFFSET = 1.0 HOME_SEARCH_VEL = 20.0 HOME_LATCH_VEL = 20.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 HOME_IS_SHARED = 1