# 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 = EMC-Manualtoolchange-Axis # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x7FFFFFFF DEBUG = 0 #DEBUG = 0x00006000 Oword+remap #define EMC_DEBUG_CONFIG 0x00000002 #define EMC_DEBUG_VERSIONS 0x00000008 #define EMC_DEBUG_TASK_ISSUE 0x00000010 #define EMC_DEBUG_NML 0x00000040 #define EMC_DEBUG_MOTION_TIME 0x00000080 #define EMC_DEBUG_INTERP 0x00000100 #define EMC_DEBUG_RCS 0x00000200 #define EMC_DEBUG_INTERP_LIST 0x00000800 #define EMC_DEBUG_IOCONTROL 0x00001000 #define EMC_DEBUG_OWORD 0x00002000 #define EMC_DEBUG_REMAP 0x00004000 #define EMC_DEBUG_PYTHON 0x00008000 #define EMC_DEBUG_NAMEDPARAM 0x00010000 #define EMC_DEBUG_GDBONSIGNAL 0x00020000 #define EMC_DEBUG_PYTHON_TASK 0x00040000 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., xemc DISPLAY = axis GLADEVCP=-c gladevcp -u python/gladevcp-handler.py manualtoolchange.ui OPEN_FILE=./nc_files/tcdemo.ngc # Michael Haberler 4/2011 # # if you get a segfault like described # here: https://bugs.launchpad.net/ubuntu/+source/mesa/+bug/259219 # or here: https://www.libavg.de/wiki/LinuxInstallIssues#glibc_invalid_pointer : # # specify a workaround with: # [DISPLAY] # DISPLAY_LD_PRELOAD = /usr/lib/libstdc++.so.6 # and # [TASK] # TASK_LD_PRELOAD = /usr/lib/libstdc++.so.6 # # this is actually a bug in libgl1-mesa-dri and it looks # it has been fixed in mesa - 7.10.1-0ubuntu2 # unfortunately for now this workaround is needed DISPLAY_LD_PRELOAD = /usr/lib/libstdc++.so.6 # 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 TASK_LD_PRELOAD = /usr/lib/libstdc++.so.6 # the Python plugins serves interpreter and task [PYTHON] # where to find Python code PATH_PREPEND=../python-stdglue PATH_APPEND=python # import the following Python module TOPLEVEL=python/toplevel.py # the higher the more verbose tracing of the Python plugin LOG_LEVEL = 0 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = sim_mm.var SUBROUTINE_PATH = nc_subroutines LOG_LEVEL = 9 # optional features - a bit mask to selectively turn on experimental/dubious features # see # RETAIN_G43 0x00000001 # OWORD_N_ARGS 0x00000002 # INI_VARS 0x00000004 # HAL_PIN_VARS 0x00000008 # NO_DOWNCASE_OWORD 0x00000010 # turn on all optional features FEATURES=-1 ON_ABORT_COMMAND=O <on_abort> call # # ------ remapping toolchange - related codes ---------------------- # # see python/remap.py for the prolog and epilog handlers # see nc_files/remap-subroutines for the NGC procedures # # the prepare_min.ngc and change_min.ngc are templates - fill in as needed REMAP=M6 modalgroup=6 prolog=change_prolog ngc=manual_change epilog=change_epilog # accessible in interp as #<_[section]name> # start of tool length touchoff probe [TOOLSENSOR] X = 10 Y = 10 Z = 10 MAXPROBE=-10 # abort change if no toolsensor contact after this probe distance PROBEFEED=50 # this is not named TOOL_CHANGE_POSITION on purpose - canon uses it and will # interfere [CHANGE_POSITION] X = 10 Y = 20 Z = 30 # motion.digital-in/out-NN pins [PINS] CHANGE = 0 # motion.digital-out-00 PROBING = 1 # motion.digital-out-01 ENABLE = 2 # motion.digital-out-02 CHANGED = 0 # motion.digital-in-00 REFTOOL = 1 # motion.digital-in-01 TOOLNO = 0 # motion.analog-out-00 REFLEN = 1 # motion.analog-out-01 CURRLEN = 2 # motion.analog-out-02 [DWELL] ACK_SECS=120 # timeout the change after 2 minutes # 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 = manualtoolchange.hal HALFILE = ../../simulated_home.hal POSTGUI_HALFILE= gladevcp.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 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 EMCIO = io # cycle time, in seconds CYCLE_TIME = 0.100 # tool table file TOOL_TABLE = tool.tbl # NB: this is NOT used with this config #tOOL_CHANGE_POSITION = 0 0 50.8