# EMC controller parameters for a simulated hexapod of the minitetra type. # 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 ############################################################################### # General section ------------------------------------------------------------- [EMC] #- Version of this INI file VERSION = $Revision$ #+ Name of machine, for use with display, etc. MACHINE = LinuxCNC-HAL-SIM-HEXAPOD #+ 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 = MACHINE #- 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 = 2.0 #+ Prefix to be used PROGRAM_PREFIX = ../../nc_files/ #- Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 0.1 ############################################################################### # 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 = hexapod.var ############################################################################### # Motion control section ############################################################################### [EMCMOT] #-make sure to link in genhexkins (you can specify that in emc2/src/Makefile.inc) 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 nanoseconds SERVO_PERIOD = 1000000 #- Trajectory Planner task period, in nanoseconds - will be rounded to an # integer multiple of SERVO_PERIOD TRAJ_PERIOD = 10000000 ############################################################################### # 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_6.hal HALFILE = hexagui.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 = 6 # COORDINATES = X Y Z R P W COORDINATES = X Y Z A B C HOME = 0 0 20 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1.0 MAX_VELOCITY = 10.0 DEFAULT_ACCELERATION = 10.0 MAX_ACCELERATION = 20.0 ############################################################################### # Axes sections ############################################################################### #+ First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 3.0 MAX_ACCELERATION = 200.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 FERROR = 2.000 MIN_FERROR = 0.200 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO #+ Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 3.0 MAX_ACCELERATION = 200.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 FERROR = 2.000 MIN_FERROR = 0.200 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO #+ Third axis [AXIS_2] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 3.0 MAX_ACCELERATION = 200.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 FERROR = 2.000 MIN_FERROR = 0.200 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO #+ Fourth axis [AXIS_3] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 3.0 MAX_ACCELERATION = 200.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 FERROR = 2.000 MIN_FERROR = 0.200 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO #+ Fifth axis [AXIS_4] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 3.0 MAX_ACCELERATION = 200.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 FERROR = 2.000 MIN_FERROR = 0.200 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO #+ Sixth axis [AXIS_5] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 3.0 MAX_ACCELERATION = 200.0 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 1.000 MIN_LIMIT = -1000.0 MAX_LIMIT = 1000.0 FERROR = 2.000 MIN_FERROR = 0.200 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO ############################################################################### # 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 = hexapod.tbl