test.ini
1 [EMC] 2 VERSION = 1.1 3 DEBUG = 0x0 4 5 [DISPLAY] 6 DISPLAY = ./test-ui.py 7 8 [TASK] 9 TASK = milltask 10 CYCLE_TIME = 0.001 11 12 [RS274NGC] 13 PARAMETER_FILE = sim.var 14 15 [EMCMOT] 16 #EMCMOT = motmod 17 COMM_TIMEOUT = 4.0 18 BASE_PERIOD = 0 19 SERVO_PERIOD = 1000000 20 21 [EMCIO] 22 EMCIO = io 23 CYCLE_TIME = 0.100 24 TOOL_TABLE = simpockets.tbl 25 TOOL_CHANGE_QUILL_UP = 1 26 RANDOM_TOOLCHANGER = 0 27 28 [HAL] 29 HALFILE = mock-motion.hal 30 #POSTGUI_HALFILE = postgui.hal 31 32 [TRAJ] 33 NO_FORCE_HOMING = 1 34 COORDINATES = X Y Z A B C U V W 35 HOME = 0 0 0 0 0 0 0 0 0 36 LINEAR_UNITS = inch 37 ANGULAR_UNITS = degree 38 DEFAULT_LINEAR_VELOCITY = 1.2 39 MAX_LINEAR_VELOCITY = 4 40 41 [KINS] 42 KINEMATICS = trivkins 43 JOINTS = 9 44 45 [AXIS_X] 46 MIN_LIMIT = -40.0 47 MAX_LIMIT = 40.0 48 MAX_VELOCITY = 4 49 MAX_ACCELERATION = 1000.0 50 51 [JOINT_0] 52 TYPE = LINEAR 53 HOME = 0.000 54 MAX_VELOCITY = 4 55 MAX_ACCELERATION = 1000.0 56 BACKLASH = 0.000 57 INPUT_SCALE = 4000 58 OUTPUT_SCALE = 1.000 59 MIN_LIMIT = -40.0 60 MAX_LIMIT = 40.0 61 FERROR = 0.050 62 MIN_FERROR = 0.010 63 64 [AXIS_Y] 65 MIN_LIMIT = -40.0 66 MAX_LIMIT = 40.0 67 MAX_VELOCITY = 4 68 MAX_ACCELERATION = 1000.0 69 70 [JOINT_1] 71 TYPE = LINEAR 72 HOME = 0.000 73 MAX_VELOCITY = 4 74 MAX_ACCELERATION = 1000.0 75 BACKLASH = 0.000 76 INPUT_SCALE = 4000 77 OUTPUT_SCALE = 1.000 78 MIN_LIMIT = -40.0 79 MAX_LIMIT = 40.0 80 FERROR = 0.050 81 MIN_FERROR = 0.010 82 83 [AXIS_Z] 84 MIN_LIMIT = -4.0 85 MAX_LIMIT = 4.0 86 MAX_VELOCITY = 4 87 MAX_ACCELERATION = 1000.0 88 89 [JOINT_2] 90 TYPE = LINEAR 91 HOME = 0.0 92 MAX_VELOCITY = 4 93 MAX_ACCELERATION = 1000.0 94 BACKLASH = 0.000 95 INPUT_SCALE = 4000 96 OUTPUT_SCALE = 1.000 97 MIN_LIMIT = -4.0 98 MAX_LIMIT = 4.0 99 FERROR = 0.050 100 MIN_FERROR = 0.010 101 102 [AXIS_A] 103 MIN_LIMIT = -40.0 104 MAX_LIMIT = 40.0 105 MAX_VELOCITY = 4 106 MAX_ACCELERATION = 1000.0 107 108 [JOINT_3] 109 TYPE = ANGULAR 110 HOME = 0.000 111 MAX_VELOCITY = 4 112 MAX_ACCELERATION = 1000.0 113 BACKLASH = 0.000 114 INPUT_SCALE = 4000 115 OUTPUT_SCALE = 1.000 116 MIN_LIMIT = -40.0 117 MAX_LIMIT = 40.0 118 FERROR = 0.050 119 MIN_FERROR = 0.010 120 121 [AXIS_B] 122 MIN_LIMIT = -40.0 123 MAX_LIMIT = 40.0 124 MAX_VELOCITY = 4 125 MAX_ACCELERATION = 1000.0 126 127 [JOINT_4] 128 TYPE = ANGULAR 129 HOME = 0.000 130 MAX_VELOCITY = 4 131 MAX_ACCELERATION = 1000.0 132 BACKLASH = 0.000 133 INPUT_SCALE = 4000 134 OUTPUT_SCALE = 1.000 135 MIN_LIMIT = -40.0 136 MAX_LIMIT = 40.0 137 FERROR = 0.050 138 MIN_FERROR = 0.010 139 140 [AXIS_C] 141 MIN_LIMIT = -4.0 142 MAX_LIMIT = 4.0 143 MAX_VELOCITY = 4 144 MAX_ACCELERATION = 1000.0 145 146 [JOINT_5] 147 TYPE = ANGULAR 148 HOME = 0.0 149 MAX_VELOCITY = 4 150 MAX_ACCELERATION = 1000.0 151 BACKLASH = 0.000 152 INPUT_SCALE = 4000 153 OUTPUT_SCALE = 1.000 154 MIN_LIMIT = -4.0 155 MAX_LIMIT = 4.0 156 FERROR = 0.050 157 MIN_FERROR = 0.010 158 159 [AXIS_U] 160 MIN_LIMIT = -40.0 161 MAX_LIMIT = 40.0 162 MAX_VELOCITY = 4 163 MAX_ACCELERATION = 1000.0 164 165 [JOINT_6] 166 TYPE = LINEAR 167 HOME = 0.000 168 MAX_VELOCITY = 4 169 MAX_ACCELERATION = 1000.0 170 BACKLASH = 0.000 171 INPUT_SCALE = 4000 172 OUTPUT_SCALE = 1.000 173 MIN_LIMIT = -40.0 174 MAX_LIMIT = 40.0 175 FERROR = 0.050 176 MIN_FERROR = 0.010 177 178 [AXIS_V] 179 MIN_LIMIT = -40.0 180 MAX_LIMIT = 40.0 181 MAX_VELOCITY = 4 182 MAX_ACCELERATION = 1000.0 183 184 [JOINT_7] 185 TYPE = LINEAR 186 HOME = 0.000 187 MAX_VELOCITY = 4 188 MAX_ACCELERATION = 1000.0 189 BACKLASH = 0.000 190 INPUT_SCALE = 4000 191 OUTPUT_SCALE = 1.000 192 MIN_LIMIT = -40.0 193 MAX_LIMIT = 40.0 194 FERROR = 0.050 195 MIN_FERROR = 0.010 196 197 [AXIS_W] 198 MIN_LIMIT = -4.0 199 MAX_LIMIT = 4.0 200 MAX_VELOCITY = 4 201 MAX_ACCELERATION = 1000.0 202 203 [JOINT_8] 204 TYPE = LINEAR 205 HOME = 0.0 206 MAX_VELOCITY = 4 207 MAX_ACCELERATION = 1000.0 208 BACKLASH = 0.000 209 INPUT_SCALE = 4000 210 OUTPUT_SCALE = 1.000 211 MIN_LIMIT = -4.0 212 MAX_LIMIT = 4.0 213 FERROR = 0.050 214 MIN_FERROR = 0.010 215