# 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. # General section ------------------------------------------------------------- [EMC] # Version of this INI file VERSION = $Revision: 1.4 $ # Name of machine, for use with display, etc. MACHINE = EMC-DEMO-STEP-CL # 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 = 0x00000001 # DEBUG = 0x00000007 # DEBUG = 0x7FFFFFFF DEBUG = 0 # Enable Adaptive Feedrate for THC # Enable adaptive feed input, we use it for feedhold button and to # prevent motion during inverse-homing of torch and for pierce delay RS274NGC_STARTUP_CODE = G50 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., xemc # DISPLAY = axis # DISPLAY = xemc # DISPLAY = usrmot 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 = 1.2 # Prefix to be used PROGRAM_PREFIX = /usr/share/emc/ncfiles # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 2 # Increments for the JOG 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 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = dallur-advanced.var # Motion control section ------------------------------------------------------ [EMCMOT] 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 nanoseconds - this is the fastest thread in the machine #BASE_PERIOD = 10000 #BASE_PERIOD = 14107 #BASE_PERIOD = 11000 #BASE_PERIOD = 15000 BASE_PERIOD = 20000 #BASE_PERIOD = 50000 # Servo task period, in nanoseconds - will be rounded to an integer multiple # of BASE_PERIOD SERVO_PERIOD = 100000 #SERVO_PERIOD = 1000000 # Trajectory Planner task period, in nanoseconds - will be rounded to an # integer multiple of SERVO_PERIOD TRAJ_PERIOD = 1000000 #TRAJ_PERIOD = 10000000 # Hardware Abstraction Layer section -------------------------------------------------- [HAL] # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # # HALUI to interact with NML # Run before any other HALFILE HALUI=halui # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = dallur-core_stepper.hal HALFILE = dallur-advanced.hal HALFILE = dallur-halvcp.hal #HALFILE = xylotex_pinout.hal # HALFILE = standard_pinout.hal # HALFILE = simulated_limits.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = 1.0 ANGULAR_UNITS = 1.0 CYCLE_TIME = 0.00001 DEFAULT_VELOCITY = 180.00 MAX_VELOCITY = 260.00 DEFAULT_ACCELERATION = 500.0 MAX_ACCELERATION = 2400.0 PROBE_INDEX = 0 PROBE_POLARITY = 1 # Axes sections --------------------------------------------------------------- # First axis [AXIS_0] TYPE = LINEAR UNITS = 1.0 HOME = 0.000 MAX_VELOCITY = 220 MAX_ACCELERATION = 2400 STEPGEN_MAXVEL = 300 STEPGEN_MAXACCEL = 2800 BACKLASH = 0.000 CYCLE_TIME = 0.00005 INPUT_SCALE = 150.333 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = 0 MAX_LIMIT = 2100 FERROR = 1.270 MIN_FERROR = 0.254 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO # Second axis [AXIS_1] TYPE = LINEAR UNITS = 1.0 HOME = 0.000 MAX_VELOCITY = 240 MAX_ACCELERATION = 2400 STEPGEN_MAXVEL = 300 STEPGEN_MAXACCEL = 2800 BACKLASH = 0.000 CYCLE_TIME = 0.00005 INPUT_SCALE = 150.333 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = 0.0 MAX_LIMIT = 6100 FERROR = 0.127 MIN_FERROR = 0.254 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO # Third axis [AXIS_2] TYPE = LINEAR UNITS = 1.0 HOME = 0.0 MAX_VELOCITY = 20 MAX_ACCELERATION = 250 STEPGEN_MAXVEL = 25 STEPGEN_MAXACCEL = 300 BACKLASH = 0.000 CYCLE_TIME = 0.001000 INPUT_SCALE = 150.333 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = 0.0 MAX_LIMIT = 4000.0 FERROR = 0.127 #MIN_FERROR = 0.254 MIN_FERROR = 500 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO # Settings for the Torch Height Control which does not use the stepgen but depends on a PID loop P = 2500 I = 0.0 D = 0.0 BIAS = 0.0 FF0 = 0.0 FF1 = 0.0 DEADBAND= 0.000375 # 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 = dallur-advanced.tbl # section for external NML server parameters ---------------------------------- [EMCSERVER] # Uncomment the following line if you need to run a remote GUI. # EMCSERVER = emcsvr