# 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 = extend-builtins.ini # Debug level, 0 means no messages. See src/emc/nml_intf/debugflags.h for others #DEBUG = 0x00000002 # configuration #DEBUG = 0x7FFFFFFF #DEBUG = 0x7FFFDEFF #no interp,oword #DEBUG = 0x00008000 # py only #DEBUG = 0x0000E000 # py + remap + Oword #DEBUG = 0x0000C002 # py + remap + config #DEBUG = 0x0000C100 # py + remap + Interpreter #DEBUG = 0x0000C140 # py + remap + Interpreter + NML msgs #DEBUG = 0x0000C040 # py + remap + NML #DEBUG = 0x0003E100 # py + remap + Interpreter + oword + signals + namedparams #DEBUG = 0x10000000 # EMC_DEBUG_USER1 - trace statements #DEBUG = 0x20000000 # EMC_DEBUG_USER2 - trap into Python debugger #DEBUG = 0x7FFFFFFF #DEBUG = 0x10008000 # USER1, PYTHON #DEBUG = 0x30008000 # USER1,USER2, PYTHON # USER2 will cause involute to try to connect to pydev DEBUG = 0 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., xemc DISPLAY = axis OPEN_FILE=./nc_files/examples.ngc GLADEVCP=-c gladevcp show.ui # 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 MAX_LINEAR_VELOCITY = 1.2 DEFAULT_LINEAR_VELOCITY = .25 # Prefix to be used PROGRAM_PREFIX = ../../nc_files/ # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 5 EDITOR = gedit TOOL_EDITOR = tooledit INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 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 # the Python plugins serves interpreter and task [PYTHON] # where to find Python code # code specific for this configuration PATH_PREPEND=./python # generic support code PATH_APPEND=../../nc_files/remap_lib/python-stdglue # import the following Python module TOPLEVEL=python/toplevel.py # the higher the more verbose tracing of the Python plugin LOG_LEVEL = 1 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = sim.var SUBROUTINE_PATH = nc_subroutines:../../nc_files/remap_lib/common_nc_subs LOG_LEVEL = 1 # parameters exposed by prepare_prolog/evaluated by prepare_epilog: # # # # REMAP=T prolog=prepare_prolog ngc=prepare epilog=prepare_epilog # parameters exposed by change_prolog/evaluated by change_epilog: # # # # # # # # REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog # parameters exposed by settool_prolog/evaluated by settool_epilog: # # # # REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool epilog=settool_epilog # alternative for demonstration purposes: 'do it all in Python' #REMAP=M61 modalgroup=6 python=set_tool_number # parameters exposed by setspeed_prolog/evaluated by setspeed_epilog: # # REMAP=S prolog=setspeed_prolog ngc=setspeed epilog=setspeed_epilog # parameters exposed by setfeed_prolog/evaluated by setfeed_epilog: # # REMAP=F prolog=setfeed_prolog ngc=setfeed epilog=setfeed_epilog REMAP=M0 modalgroup=4 ngc=extend_m0 REMAP=M1 modalgroup=4 ngc=extend_m1 REMAP=M60 modalgroup=4 ngc=extend_m60 # this is important - read common_nc_subs/reset_state.ngc ON_ABORT_COMMAND=O call # 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_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 = gladevcp.hal HALUI = halui # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1.2 POSITION_FILE = position.txt MAX_LINEAR_VELOCITY = 1.2 NO_FORCE_HOMING = 1 # Axes sections --------------------------------------------------------------- # First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 4 MAX_ACCELERATION = 100.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -40.0 MAX_LIMIT = 40.0 FERROR = 0.050 MIN_FERROR = 0.010 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 20.0 HOME_LATCH_VEL = 20.0 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 = 4 MAX_ACCELERATION = 100.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -40.0 MAX_LIMIT = 40.0 FERROR = 0.050 MIN_FERROR = 0.010 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 20.0 HOME_LATCH_VEL = 20.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 # Third axis [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 4 MAX_ACCELERATION = 100.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -8.0 MAX_LIMIT = 8.00 FERROR = 0.050 MIN_FERROR = 0.010 HOME_OFFSET = 1.0 HOME_SEARCH_VEL = 20.0 HOME_LATCH_VEL = 20.0 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 EMCIO = iov2 # cycle time, in seconds CYCLE_TIME = 0.100 # tool table file TOOL_TABLE = tool.tbl TOOL_CHANGE_POSITION = 0 0 0 TOOL_CHANGE_QUILL_UP = 1 #RANDOM_TOOLCHANGER = 1