# 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: 1.4.4.2 $ #+ Name of machine, for use with display, etc. MACHINE = EMC-PLASMA-THC #- Name of NML file to use, default is emc.nml NML_FILE = emc.nml #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0 # DEBUG = 0x00000007 #DEBUG = 0x7FFFFFFF ############################################################################### # Sections for display options ############################################################################### [DISPLAY] #+ Name of display program, e.g., xemc #DISPLAY = axis # DISPLAY = usrmot # DISPLAY = mini DISPLAY = tkemc # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.200 #- 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 = 1.4 #- Prefix to be used PROGRAM_PREFIX = /usr/share/emc/ncfiles/ #- Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 5 #Increments for the JOB Section INCREMENTS 1000 10 1 0.1 0.01 ############################################################################### # Task controller section ############################################################################### [TASK] #- Name of task controller program, e.g., bridgeporttask TASK = milltask # TASK = minimilltask #- Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.010 #CYCLE_TIME = 0.001 ############################################################################### # 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 = 10000 BASE_PERIOD = 20000 #BASE_PERIOD = 50000 #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD #SERVO_PERIOD = 10000 SERVO_PERIOD = 100000 #SERVO_PERIOD = 100000 #- Trajectory Planner task period, in nanosecs - will be rounded to an # integer multiple of SERVO_PERIOD #TRAJ_PERIOD = 100000 TRAJ_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 = stepper_xyza.hal HALFILE = standard_pinout.hal #HALFILE = sim_pinout.hal #- list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta ############################################################################### # Trajectory planner section ############################################################################### [TRAJ] #+ machine specific settings AXES = 3 COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.00001 #CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 100 MAX_VELOCITY = 150 DEFAULT_ACCELERATION = 500 MAX_ACCELERATION = 2400 PROBE_INDEX = 0 PROBE_POLARITY = 1 ############################################################################### # Axes sections ############################################################################### #+ First axis (X) [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 150 MAX_ACCELERATION = 2400 STEPGEN_MAXVEL = 160 STEPGEN_MAXACCEL = 2960 BACKLASH = 0.000 INPUT_SCALE = 150.333 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -5.0 MAX_LIMIT = 2055 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 10.0 HOME_SEARCH_VEL = 50.0 HOME_LATCH_VEL = -5.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 #+ Second axis (Y) [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 150 MAX_ACCELERATION = 2400 STEPGEN_MAXVEL = 160 STEPGEN_MAXACCEL = 2960 BACKLASH = 0.000 INPUT_SCALE = 150.333 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -5.0 MAX_LIMIT = 6050.0 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 10.0 HOME_SEARCH_VEL = 50.0 HOME_LATCH_VEL = -5.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 #HOME_IS_SHARED = 1 #+ Third axis (Z) [AXIS_2] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 20 MAX_ACCELERATION = 150 STEPGEN_MAXVEL = 24 STEPGEN_MAXACCEL = 180 BACKLASH = 0.000 INPUT_SCALE = 200 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -5.0 MAX_LIMIT = 100.0 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 5.0 HOME_SEARCH_VEL = 10.0 HOME_LATCH_VEL = -1.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 #+ Second axis (A) [AXIS_3] TYPE = LINEAR HOME = 1.000 MAX_VELOCITY = 150 MAX_ACCELERATION = 2400 STEPGEN_MAXVEL = 160 STEPGEN_MAXACCEL = 2960 BACKLASH = 0.000 INPUT_SCALE = 150.333 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -5.0 MAX_LIMIT = 1000.0 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 10.0 HOME_SEARCH_VEL = 50.0 HOME_LATCH_VEL = -5.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 #HOME_IS_SHARED = 1 ############################################################################### # 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 = stepper.tbl