# 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: 1.9.4.3 $ #+ Name of machine, for use with display, etc. MACHINE = EMC-HAL-PLOTER-MM #- Name of NML file to use, default is emc.nml NML_FILE = emc.nml PROGRAM_FILTER = /root/Projects/dxf/src/dxf #PROGRAM_FILTER = /root/Projects/PLT/src/plt #PROGRAM_FILTER = python /usr/EMCconfig/axis_filtr_plt.py PROGRAM_EXTENSION = *.plt pliki PLT PROGRAM_EXTENSION = *.PLT pliki PLT PROGRAM_EXTENSION = *.hpg pliki PLT PROGRAM_EXTENSION = *.HPG pliki PLT PROGRAM_EXTENSION = *.dxf pliki DXF PROGRAM_EXTENSION = *.DXF pliki DXF #+ 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 = tkemc.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 #- Prefix to be used PROGRAM_PREFIX = /WYMIANA #- Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 2 #co ile odswiezanie ekranu [ms] PREVIEW_REFRESH_TIME = 20 # jednostka wyswietlania POSITION_UNIT = mm # krok paska predkosci % FEED_OVERRIDE_STEP = 5.0 # krok predkosci recznej w mm/min JOGSPEED_STEP = 0.005 # predkosc osi w synchronizacji pol [mm/min] SYNC_SPEED = 250 # odleglosc pokonywana w czasie synchronizacji [mm] SYNC_DIST = 2 ############################################################################### # 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 ############################################################################### # Part program interpreter section ############################################################################### [RS274NGC] #- File containing interpreter variables PARAMETER_FILE = ploter.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 = 37000 #- 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 = 10000000 ############################################################################### # Hardware Abstraction Layer section ############################################################################### [HAL] HALUI=halui # 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 = ploter_core.hal HALFILE = ploter_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 A B C COORDINATES = X Y Z HOME = 0 0 72 #LINEAR_UNITS = mm LINEAR_UNITS = 1.0 #ANGULAR_UNITS = degree ANGULAR_UNITS = 1.0 CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 55 MAX_VELOCITY = 55 DEFAULT_ACCELERATION = 300.0 MAX_ACCELERATION = 300.0 ############################################################################### # Axes sections ############################################################################### #+ First axis [AXIS_0] UNITS = 1.0 TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 55 # 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 MAX_ACCELERATION = 260.0 STEPGEN_MAXVEL = 65.00 STEPGEN_MAXACCEL = 310.0 BACKLASH = 0.000 INPUT_SCALE = 100 OUTPUT_SCALE = 1.000 MIN_LIMIT = -1.5 MAX_LIMIT = 1125.0 FERROR = 1.770 MIN_FERROR = 0.354 HOME_OFFSET = 8.0 HOME_SEARCH_VEL = -45.0 HOME_LATCH_VEL = 5.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 #+ Second axis [AXIS_1] UNITS = 1.0 TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 55.00 MAX_ACCELERATION = 260.0 STEPGEN_MAXVEL = 65.00 STEPGEN_MAXACCEL = 310.0 BACKLASH = 0.000 INPUT_SCALE = 100.01 OUTPUT_SCALE = 1.000 MIN_LIMIT = -2.50 MAX_LIMIT = 1546.0 FERROR = 1.770 MIN_FERROR = 0.354 HOME_OFFSET = 3.0 HOME_SEARCH_VEL = -45.0 HOME_LATCH_VEL = 5.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 #+ Third axis [AXIS_2] UNITS = 1.0 TYPE = LINEAR HOME = 72.0 MAX_VELOCITY = 30.00 MAX_ACCELERATION = 300.0 STEPGEN_MAXVEL = 40.00 STEPGEN_MAXACCEL = 350.0 BACKLASH = 0.000 INPUT_SCALE = 100 OUTPUT_SCALE = 1.000 MIN_LIMIT = -2.0 MAX_LIMIT = 72.3 FERROR = 1.770 MIN_FERROR = 0.354 HOME_OFFSET = 65.0 HOME_SEARCH_VEL = 30.0 HOME_LATCH_VEL = 5.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO 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 = ploter.tbl