# 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 = $Revision$ #+ Name of machine, for use with display, etc. MACHINE = LinuxCNC-HAL-VTI #+ 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 = tklinucnc.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 = linuxcnc.gif INTRO_TIME = 5 ############################################################################### # Task controller section ############################################################################### [TASK] # Name of task controller program, e.g., milltask TASK = milltask #- 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 = vti.var ############################################################################### # Motion control section ############################################################################### [EMCMOT] #- Name of the motion controller to use (only one exists for nontrivkins) EMCMOT = motmod #- Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 #- Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 #- Servo task period, in nanosecs SERVO_PERIOD = 1000000 ############################################################################### # 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 = core_servo.hal HALFILE = vti_motion.hal HALFILE = vti_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] #+ machine specific settings AXES = 3 # COORDINATES = X Y Z R P W COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 2.000 MAX_VELOCITY = 30.48 DEFAULT_ACCELERATION = 300.0 MAX_ACCELERATION = 500.0 ############################################################################### # Axes sections ############################################################################### #+ First axis # each setting is commented for axis_0 [AXIS_0] # type of axis, LINEAR vs. ROTARY TYPE = LINEAR # home position HOME = 0.000 # maximum velocity MAX_VELOCITY = 30.48 # maximum acceleration MAX_ACCELERATION = 500.0 # machanical backlash measured BACKLASH = 0.000 # time to update the axis # number of encoder ticks / unit INPUT_SCALE = 800 # dac gain for output OUTPUT_SCALE = 1.000 # dac bias for output OUTPUT_OFFSET = 0.000 # minimum travel limit (from position 0) MIN_LIMIT = -1000.0 # maximum travel limit (from position 0) MAX_LIMIT = 1000.0 # following error at max speed FERROR = 1.270 # following error when halted MIN_FERROR = 0.254 # read HAL_Introduction.pdf for an insight about Homing HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES # PID tuning params MAX_OUTPUT = 1.0 DEADBAND = 0.000381 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.000 FF2 = 0.0 BIAS = 0.000 #+ Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 30.48 MAX_ACCELERATION = 500.0 BACKLASH = 0.000 INPUT_SCALE = 200 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.000 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 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 # PID tuning params MAX_OUTPUT = 1.0 DEADBAND = 0.000381 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.000 FF2 = 0.0 BIAS = 0.000 #+ Third axis [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 30.48 MAX_ACCELERATION = 500.0 BACKLASH = 0.000 INPUT_SCALE = 200 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.000 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 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 # PID tuning params MAX_OUTPUT = 1.0 DEADBAND = 0.000381 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.000 FF2 = 0.0 BIAS = 0.000 ############################################################################### # 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 = vti.tbl