# EMC controller parameters for a simulated machine. # 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 = $Revision$ # Name of machine, for use with display, etc. MACHINE = owordm6-ui-ns # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0x7FFFFFFF #DEBUG = 0 # 0x00000001 Ausgabe ungültige Meldungen # 0x00000002 Ausgabe Konfigurations-Settings # 0x00000004 Ausgabe Defaults # 0x00000008 Ausgabe Version # 0x00000010 Ausgabe Task Meldungen # 0x00000020 Ausgabe IO-Points # 0x00000040 Ausgabe NML-Messages # 0x00000080 Ausgabe Zeit zur Beendigung einer Motorbewegung # 0x00000100 Ausgabe Intepreter Debugging # 0x00000200 Ausgabe RCS-Debugging # 0x00000400 Ausgabe Roh-Bahn-Daten # 0x00000800 Ausgabe Interpreter List # 0x7FFFFFFF Ausgabe alle Debugging Messages # Sections for display options ------------------------------------------------ [DISPLAY] GLADEVCP=osubdemo-ns.ui # Name of display program, e.g., xemc DISPLAY = axis OPEN_FILE=./toolchange-demo.ngc # 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 MAX_SPINDLE_OVERRIDE = 1.0 # Prefix to be used PROGRAM_PREFIX = ../../nc_files/ # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 5 EDITOR = gedit INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python # 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 = 0.001 # Part program interpreter section -------------------------------------------- [RS274NGC] SUBROUTINE_PATH = ../../nc_files/remap_lib/common_nc_subs # remap T to a named oword subroutine. # The tool number will be passed as parameter #1 # The pocket number will be passed as parameter #2 # if positive return value, commits the tool prepare. # Otherwise just a procedure call. T_COMMAND=ocall # remap M6 to a named oword subroutine. # parameter #1: the current tool-in-spindle # parameter #2: the tool number requested in the last T (prepare) command # parameter #3: pocket of new tool # param #3 at this point in time is useless - dont rely on its value. # This will change once iocontrol is history, and tooltable I/O is # moved to the interpreter. # if positive return value, commits the tool change. # Otherwise just a procedure call. M6_COMMAND=ocall # called on M61 with Q-number as parameter #1 # if positive return value, commits the tool number change. # Otherwise just a procedure call. M61_COMMAND=ocall # handler procedure called on aborts - to cleanup HAL pins etc ON_ABORT_COMMAND=ocall LOG_LEVEL =0 # File containing interpreter variables PARAMETER_FILE = sim_mm.var # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 # BASE_PERIOD is unused in this configuration but specified in core_sim.hal BASE_PERIOD = 0 # Servo task period, in nano-seconds 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_sim.hal #HALFILE = axis_owordsub_manualtoolchange.hal HALFILE = simulated_home.hal #HALFILE = gamepad.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Single file that is executed after the GUI has started. Only supported by # AXIS at this time (only AXIS creates a HAL component of its own) #POSTGUI_HALFILE = test_postgui.hal POSTGUI_HALFILE = v2_oword_gladevcp_postgui.hal HALUI = halui # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 30.48 MAX_VELOCITY = 53.34 DEFAULT_ACCELERATION = 508 MAX_ACCELERATION = 508 POSITION_FILE = position_mm.txt NO_FORCE_HOMING = 1 # Axes sections --------------------------------------------------------------- # First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 30.48 MAX_ACCELERATION = 508 BACKLASH = 0.000 INPUT_SCALE = 157.48 OUTPUT_SCALE = 1.000 MIN_LIMIT = -254 MAX_LIMIT = 254 FERROR = 1.27 MIN_FERROR = .254 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 127 HOME_LATCH_VEL = 25.4 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 HOME_IS_SHARED = 1 # Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 30.48 MAX_ACCELERATION = 508 BACKLASH = 0.000 INPUT_SCALE = 157.48 OUTPUT_SCALE = 1.000 MIN_LIMIT = -254 MAX_LIMIT = 254 FERROR = 1.27 MIN_FERROR = .254 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 127 HOME_LATCH_VEL = 25.4 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 # Third axis [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 30.48 MAX_ACCELERATION = 508 BACKLASH = 0.000 INPUT_SCALE = 157.48 OUTPUT_SCALE = 1.000 MIN_LIMIT = -50.8 MAX_LIMIT = 101.6 FERROR = 1.27 MIN_FERROR = .254 HOME_OFFSET = 25.4 HOME_SEARCH_VEL = 127 HOME_LATCH_VEL = 25.4 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 HOME_IS_SHARED = 1 # section for main IO controller parameters ----------------------------------- [EMCIO] # Name of IO controller program, e.g., io # explicitly support the start-change protocol. # needs to be explicitly enabled for backwards compatibility. # NB: if the start-change pin isnt used it needs to be looped like below to # start-change-ack or an M6 will hang waiting for start-change-ack: # net start-change iocontrol.0.start-change iocontrol.0.start-change-ack #EMCIO = iov2 -support-start-change # starting iov2 like so will create the start-change and start-change-ack pins # but the start-change protocol remains disabled - start-change remains low and # start-change-ack is ignored: EMCIO = iov2 # cycle time, in seconds CYCLE_TIME = 0.100 # tool table file TOOL_TABLE = sim_mm_test.tbl TOOL_CHANGE_POSITION = 0 0 50.8 RANDOM_TOOLCHANGER = 1