# 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: 1.6 $ # Name of machine, for use with display, etc. MACHINE = EMC-DEMO-STEP-CL # Name of NML file to use, default is emc.nml # no longer needed 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 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., xemc # DISPLAY = axis # DISPLAY = usrmot DISPLAY = tkemc # 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 # Prefix to be used PROGRAM_PREFIX = ../../nc_files/ # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 2 # Enable popup balloon help BALLOON_HELP = 1 # 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 = univstep.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 = 50000 # Servo task period, in nanoseconds - will be rounded to an integer multiple # of BASE_PERIOD SERVO_PERIOD = 1000000 # Trajectory Planner task period, in nanoseconds - will be rounded to an # integer multiple of SERVO_PERIOD 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. # # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = univstep_load.hal # HALFILE = univstep_save.hal HALFILE = univstep_servo.hal HALFILE = univstep_motion.hal HALFILE = univstep_io.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 = 4 # COORDINATES = X Y Z R P W COORDINATES = X Y Z A HOME = 0 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.0167 MAX_VELOCITY = 1.20 DEFAULT_ACCELERATION = 15.0 MAX_ACCELERATION = 20.0 PROBE_INDEX = 0 PROBE_POLARITY = 1 # Axes sections --------------------------------------------------------------- # First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 1.25 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 FERROR = 0.0100 MIN_FERROR = 0.001 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000126 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 # Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 1.25 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 FERROR = 0.010 MIN_FERROR = 0.001 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000126 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 # Third axis [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 1.25 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 FERROR = 0.010 MIN_FERROR = 0.001 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000126 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 # Fourth axis [AXIS_3] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 65 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 66 BACKLASH = 0.000 INPUT_SCALE = 11.11111111 OUTPUT_SCALE = 1.000 MIN_LIMIT = -3600.0 MAX_LIMIT = 3600.0 FERROR = 0.010 MIN_FERROR = 0.001 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.046 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 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 = univstep.tbl