Uni-mill-cnc.ini
1 # EMC controller parameters for generic controller. Make these what you need 2 # for your system. 3 # General note: Comments can either be preceded with a # or ; - either is 4 # acceptable, although # is in keeping with most linux config files. 5 # General section ------------------------------------------------------------- 6 7 [EMC] 8 # Version of this INI file 9 VERSION = 1.1 10 # Name of machine, for use with display, etc. 11 MACHINE = UniMillCNC 12 # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others 13 # DEBUG = 0x00000003 14 # DEBUG = 0x00000007 15 # DEBUG = 0x7FFFFFFF 16 DEBUG = 0 17 # Sections for display options ------------------------------------------------ 18 19 [DISPLAY] 20 #DISPLAY = tklinuxcnc 21 DISPLAY = axis 22 #EDITOR = gedit 23 # Cycle time, in seconds, that display will sleep between polls 24 CYCLE_TIME = 0.200 25 # Path to help file 26 HELP_FILE = doc/help.txt 27 # Initial display setting for position, RELATIVE or MACHINE 28 POSITION_OFFSET = RELATIVE 29 # Initial display setting for position, COMMANDED or ACTUAL 30 POSITION_FEEDBACK = ACTUAL 31 # Highest value that will be allowed for feed override, 1.0 = 100% 32 MAX_FEED_OVERRIDE = 2.0 33 # Prefix to be used 34 PROGRAM_PREFIX = ../../nc_files/ 35 # Introductory graphic 36 INTRO_GRAPHIC = linuxcnc.gif 37 INTRO_TIME = 5 38 # Task controller section ----------------------------------------------------- 39 40 [FILTER] 41 PROGRAM_EXTENSION = .py Python Script 42 py = python 43 # Trajectory planner section -------------------------------------------------- 44 45 [RS274NGC] 46 # File containing interpreter variables 47 PARAMETER_FILE = stepper.var 48 # Motion control section ------------------------------------------------------ 49 50 [EMCMOT] 51 EMCMOT = motmod 52 # Timeout for comm to emcmot, in seconds 53 COMM_TIMEOUT = 1.0 54 # Base task period, in seconds - this is the fastest thread in the machine 55 BASE_PERIOD = 50000 56 # Servo task period, in seconds - will be rounded to an integer multiple 57 # of BASE_PERIOD 58 SERVO_PERIOD = 1000000 59 # Trajectory Planner task period, in seconds - will be rounded to an 60 # integer multiple of SERVO_PERIOD 61 TRAJ_PERIOD = 10000000 62 # Hardware Abstraction Layer section -------------------------------------------------- 63 64 [TASK] 65 # Name of task controller program, e.g., bridgeporttask 66 TASK = milltask 67 # Cycle time, in seconds, that task controller will sleep between polls 68 CYCLE_TIME = 0.010 69 # Part program interpreter section -------------------------------------------- 70 71 [HAL] 72 # The run script first uses halcmd to execute any HALFILE 73 # files, and then to execute any individual HALCMD commands. 74 # 75 # list of hal config files to run through halcmd 76 # files are executed in the order in which they appear 77 HALFILE = core_stepper.hal 78 HALFILE = standard_pinout.hal 79 # list of halcmd commands to execute 80 # commands are executed in the order in which they appear 81 #HALCMD = save neta 82 # Section Filter 83 84 [HALUI] 85 #No Content 86 87 [TRAJ] 88 COORDINATES = X Y Z 89 HOME = 0 0 0 90 LINEAR_UNITS = mm 91 ANGULAR_UNITS = degree 92 DEFAULT_LINEAR_VELOCITY = 2 93 MAX_LINEAR_VELOCITY = 50 94 DEFAULT_LINEAR_ACCELERATION = 20.0 95 MAX_LINEAR_ACCELERATION = 20.0 96 # Axes sections --------------------------------------------------------------- 97 # First axis 98 99 [EMCIO] 100 # Name of IO controller program, e.g., io 101 EMCIO = io 102 # cycle time, in seconds 103 CYCLE_TIME = 0.100 104 # tool table file 105 TOOL_TABLE = stepper.tbl 106 107 [KINS] 108 KINEMATICS = trivkins 109 JOINTS = 3 110 111 [AXIS_X] 112 MIN_LIMIT = -230.0 113 MAX_LIMIT = 230.0 114 MAX_VELOCITY = 5 115 MAX_ACCELERATION = 20.0 116 117 [JOINT_0] 118 TYPE = LINEAR 119 HOME = 0.000 120 MAX_VELOCITY = 5 121 MAX_ACCELERATION = 20.0 122 STEPGEN_MAXVEL = 6 123 STEPGEN_MAXACCEL = 22 124 BACKLASH = 0.20 125 SCALE = -800 126 MIN_LIMIT = -230.0 127 MAX_LIMIT = 230.0 128 FERROR = 0.500 129 MIN_FERROR = 0.500 130 HOME_OFFSET = 0.0 131 HOME_SEARCH_VEL = 0.0 132 HOME_LATCH_VEL = 0.0 133 HOME_USE_INDEX = NO 134 HOME_IGNORE_LIMITS = NO 135 # Second axis 136 137 [AXIS_Y] 138 MIN_LIMIT = -127.0 139 MAX_LIMIT = 127.0 140 MAX_VELOCITY = 5 141 MAX_ACCELERATION = 20.0 142 143 [JOINT_1] 144 TYPE = LINEAR 145 HOME = 0.000 146 MAX_VELOCITY = 5 147 MAX_ACCELERATION = 20.0 148 STEPGEN_MAXVEL = 6 149 STEPGEN_MAXACCEL = 22 150 BACKLASH = 0.350 151 SCALE = -800 152 MIN_LIMIT = -127.0 153 MAX_LIMIT = 127.0 154 FERROR = 0.500 155 MIN_FERROR = 0.500 156 HOME_OFFSET = 0.0 157 HOME_SEARCH_VEL = 0.0 158 HOME_LATCH_VEL = 0.0 159 HOME_USE_INDEX = NO 160 HOME_IGNORE_LIMITS = NO 161 # Third axis 162 163 [AXIS_Z] 164 MIN_LIMIT = -159.0 165 MAX_LIMIT = 159.0 166 MAX_VELOCITY = 5 167 MAX_ACCELERATION = 20.0 168 169 [JOINT_2] 170 TYPE = LINEAR 171 HOME = 0.0 172 MAX_VELOCITY = 5 173 MAX_ACCELERATION = 20.0 174 STEPGEN_MAXVEL = 6 175 STEPGEN_MAXACCEL = 22 176 BACKLASH = 0.20 177 SCALE = -800 178 MIN_LIMIT = -159.0 179 MAX_LIMIT = 159.0 180 FERROR = 0.500 181 MIN_FERROR = 0.500 182 HOME_OFFSET = 0.0 183 HOME_SEARCH_VEL = 0.0 184 HOME_LATCH_VEL = 0.0 185 HOME_USE_INDEX = NO 186 HOME_IGNORE_LIMITS = NO 187 # Four axis 188 189 [AXIS_A] 190 MIN_LIMIT = -10000 191 MAX_LIMIT = 10000 192 MAX_VELOCITY = 50 193 MAX_ACCELERATION = 20.0 194 195 [JOINT_3] 196 TYPE = ANGULAR 197 HOME = 0.0 198 MAX_VELOCITY = 50 199 MAX_ACCELERATION = 20.0 200 STEPGEN_MAXVEL = 52 201 STEPGEN_MAXACCEL = 22 202 BACKLASH = 0.000 203 SCALE = -8.8888888888 204 MIN_LIMIT = -10000 205 MAX_LIMIT = 10000 206 FERROR = 50.000 207 MIN_FERROR = 10.000 208 HOME_OFFSET = 0.0 209 HOME_SEARCH_VEL = 0.0 210 HOME_LATCH_VEL = 0.0 211 HOME_USE_INDEX = NO 212 HOME_IGNORE_LIMITS = NO 213 # section for main IO controller parameters -----------------------------------