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# 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
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