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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.
# General section -------------------------------------------------------------
[EMC]
# Version of this INI file
VERSION = $Revision$
# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-BP-BOSS6
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., tkemc
DISPLAY = tkemc
#DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# 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 = 1.5
# 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 = boss.var
# Enable adaptive feed input, we use it to limit rapid/feed when
# limits are being overriden.
RS274NGC_STARTUP_CODE = M52 P1
# 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
# Servo task period, in nanoseconds
SERVO_PERIOD = 200000
# Hardware Abstraction Layer section --------------------------------------------------
[HAL]
# HALUI to interact with NML.
# Run before any other HALFILE.
HALUI = halui
# 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 = boss.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Trajectory planner section --------------------------------------------------
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
# 2000 rpm, 2:1 reduction, 5 tpi = 200 ipm = 3.33333333333333 ips.
MAX_VELOCITY = 2.5
DEFAULT_VELOCITY = 0.1
# 3000 lbs continuous force. Use 1% = 30 lbs for accel. With 600 lbs load
# that's 0.05g * 9.8 mpss * 39.37 i/m = 19.29 ipss. Motor peak torque
# is 3x continuous.
MAX_ACCELERATION = 15.0
DEFAULT_ACCELERATION = 15.0
# Axes sections ---------------------------------------------------------------
# First axis
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
BACKLASH = 0.0
INPUT_SCALE = 100000
OUTPUT_SCALE = 3.0
OUTPUT_OFFSET = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 18.0
FERROR = 0.005
MIN_FERROR = 0.001
HOME_OFFSET = 0.05
HOME_SEARCH_VEL = -0.5
HOME_LATCH_VEL = 0.01
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
MAX_OUTPUT = 3.333333
DEADBAND = 0.000015
P = 60.0
I = 1250.0
D = 0.0
MAX_ERROR_I = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
# Second axis
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
BACKLASH = 0.0
INPUT_SCALE = 100000
OUTPUT_SCALE = 3.0
OUTPUT_OFFSET = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 12.0
FERROR = 0.005
MIN_FERROR = 0.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -0.4
HOME_LATCH_VEL = 0.01
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# PID tuning params
MAX_OUTPUT = 3.333333
DEADBAND = 0.000015
P = 60.0
I = 1250.0
D = 0.0
MAX_ERROR_I = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
# Third axis
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
BACKLASH = 0.0
INPUT_SCALE = -100000
OUTPUT_SCALE = -3.0
OUTPUT_OFFSET = 0.0
MIN_LIMIT = -4.75
MAX_LIMIT = 0.0
FERROR = 0.005
MIN_FERROR = 0.001
HOME_OFFSET = -0.225
HOME_SEARCH_VEL = 0.1
HOME_LATCH_VEL = -0.01
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
# PID tuning params
MAX_OUTPUT = 3.333333
DEADBAND = 0.000015
P = 60.0
I = 1250.0
D = 0.0
MAX_ERROR_I = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
# Fourth axis
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
BACKLASH = 0.0
INPUT_SCALE = 100000
OUTPUT_SCALE = 3.0
OUTPUT_OFFSET = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 0.0
FERROR = 0.005
MIN_FERROR = 0.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = -0.01
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -1
# PID tuning params
MAX_OUTPUT = 3.333333
DEADBAND = 0.000015
P = 60.0
I = 1250.0
D = 0.0
MAX_ERROR_I = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
# 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 = boss.tbl
TOOL_CHANGE_POSITION -18.0 -12.0 0.0
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