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# EMC controller parameters for a simulated gantry machine.
[EMC]
# Version of this INI file
VERSION = $Revision$
# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-GANTRY-SIM-AXIS
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
DEBUG = 0
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xemc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# 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
# gantry machines jog in Teleop-mode (aka World-mode) only,
# which does not support incremental jogs
#INCREMENTS = 0.100 in, 0.010 in, 0.001 in, 0.0001 in
# the [DISPLAY]GEOMETRY tells the UI how to display the preview and
# backplot, it's got nothing to do with how the joints of the machine map
# to axes
GEOMETRY = XYYZ
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .dxf 3D Polygon Model
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode.py
gif = image-to-gcode.py
jpg = image-to-gcode.py
dxf = toolpaths.py
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
# Part program interpreter section --------------------------------------------
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = sim.var
# 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 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 = gantrysim.hal
HALFILE = sim_spindle_encoder.hal
HALFILE = simulated-gantry-home.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Trajectory planner section --------------------------------------------------
[TRAJ]
# These two variables are a bit weird for gantry machines.
# The gantry machine that this sim config describes has only three axes (X,
# Y, and Z), but it uses two joints to implement the Y axis. The
# [TRAJ]AXES variable somewhat confusingly counts joints, not axes.
# Furthermore, the [TRAJ]COORDINATES variable only lists the axis names
# that are accepted in incoming G-code, and duplicate names here have no
# effect.
AXES = 4
COORDINATES = X Y Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.0
MAX_VELOCITY = 58
MAX_LINEAR_VELOCITY = 58
#DEFAULT_ACCELERATION = 20.0
#MAX_ACCELERATION = 20.0
# Axes sections ---------------------------------------------------------------
# X axis
[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 39
MAX_ACCELERATION = 120.0
MIN_LIMIT = -0.01
MAX_LIMIT = 50.0
HOME = 0
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = -39
HOME_LATCH_VEL = 10
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = yes
HOME_OFFSET = -0.1
HOME_IS_SHARED = 1
FERROR = 0.050
MIN_FERROR = 0.010
# Y Axis, first joint
[AXIS_1]
TYPE = LINEAR
MIN_LIMIT = -0.01
MAX_LIMIT = 50.0
HOME = 0.0
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = -39
HOME_LATCH_VEL = 10
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = yes
HOME_OFFSET = -0.1
HOME_IS_SHARED = 0
FERROR = 0.050
MIN_FERROR = 0.010
MAX_VELOCITY = 39
MAX_ACCELERATION = 120.0
# Z axis
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = 39
HOME_LATCH_VEL = -10
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = yes
HOME_OFFSET = 0.1
HOME_IS_SHARED = 1
MIN_LIMIT = -50.0
MAX_LIMIT = 0.01
FERROR = 0.050
MIN_FERROR = 0.010
MAX_VELOCITY = 39
MAX_ACCELERATION = 120.0
# Y axis, second joint
[AXIS_3]
TYPE = LINEAR
HOME = 0.0
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = -39
HOME_LATCH_VEL = 10
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = yes
HOME_OFFSET = -0.1
HOME_IS_SHARED = 0
MIN_LIMIT = -0.01
MAX_LIMIT = 50
FERROR = 0.050
MIN_FERROR = 0.010
MAX_VELOCITY = 39
MAX_ACCELERATION = 120.0
# 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 = sim.tbl
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