path: root/configs/sim/axis/remap/getting-started/demo.ini

# 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 =               getting-started:demo.ini

# Debug level, 0 means no messages. See src/emc/nml_intf/debugflags.h for others
#DEBUG    =          0x00000002  # configuration
#DEBUG =               0x7FFFFFFF
#DEBUG =               0x7FFFDEFF  #no interp,oword
#DEBUG  =   	       0x00008000 # py only
#DEBUG  =   	       0x0000E000 # py + remap + Oword
#DEBUG  =   	       0x0000C002 # py + remap + config
#DEBUG  =   	       0x0000C100 # py + remap + Interpreter
#DEBUG  =   	       0x0000C140 # py + remap + Interpreter + NML msgs
#DEBUG  =   	       0x0000C040 # py + remap + NML
#DEBUG  =   	       0x0003E100 # py + remap + Interpreter + oword + signals + namedparams
#DEBUG  =              0x10000000  # EMC_DEBUG_USER1 - trace statements
#DEBUG  =              0x20000000  # EMC_DEBUG_USER2 - trap into Python debugger
#DEBUG =               0x7FFFFFFF
DEBUG =    0x10008000 # USER1, PYTHON
#DEBUG =    0x30008000 # USER1,USER2, PYTHON # USER2 will cause involute to try to connect to pydev

# Sections for display options ------------------------------------------------
[DISPLAY]

# Name of display program, e.g., xemc
DISPLAY = axis
OPEN_FILE=./nc_files/examples.ngc

# 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

MAX_LINEAR_VELOCITY =   1.2
DEFAULT_LINEAR_VELOCITY =   .25
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5

EDITOR = gedit
TOOL_EDITOR = tooledit

INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 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

# the Python plugins serves interpreter and task
[PYTHON]
# where to find Python code
PATH_PREPEND=python

# import the following Python module
TOPLEVEL=python/toplevel.py

# the higher the more verbose tracing of the Python plugin
LOG_LEVEL = 8

# Part program interpreter section --------------------------------------------
[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =        sim.var
SUBROUTINE_PATH = nc_subroutines:../../nc_files/remap_lib/common_nc_subs
LOG_LEVEL = 0

# generalized  remapping of RS274NGC codes
#-----------------------------------------
# currently only unused M- and G-codes may be activated as per below, plus the
# T,M6,M61,S and F codes.
# G: currently supported modal group: 1
# M:currently supported modal groups: 5,6,7,8,9,10
# for T,S,F remaps the modal group is fixed and any modalgroup= option is ignored


# An argument specification (keyword 'argspec') describes required and  permitted words,
# and precondtions for that code to execute.
#
# It consists of 0-n characters of the class [@A-KMNP-Za-kmnp-z^>] .
#
# parameter words:
#   an uppercase letter for each required parameter 'word'
#   a lowercase letter for each optional parameter 'word'
#
# Preconditions:
#   an '^' means: speed must be > 0
#   an '>' means: feed must be > 0
#
# if calling an NGC oword function (ngc=<funcname>), the parameters are passed
# as local named parameters which are already set when the function starts
# optional words are passed if set in the block, and may be tested for existence
# by # EXISTS(#<..>) .
#
# example 1:
REMAP=M400  modalgroup=10 argspec=Pq ngc=m400
# see nc_subroutines/m400.ngc
# to exercise, try:
# M400
# M400 P123
# M400 P123 Q456
# ---------------
#
# Example 2:
#
# Calling with traditional positioal parameter lists:
#
# To do so, add the '@' character to the argspec.
# In this case, the arguments (required or optional) will be passed tradional-style
#
REMAP=M410  modalgroup=10 argspec=@Pq ngc=m410
# see nc_subroutines/m410.ngc
#
# to exercise, try:
# M410
# M410 P123
# M410 P123 Q456
#
# NB: you lose the capability to distinguish more than one optional parameter word!
# since you cant tell wether Q was passed as 'Q0' or no Q word was set.
#
# -------------------------------------------------------------------------
#
# up to here you wouldnt need the PYTHON section to be defined since no
# Python code was used.
# Examples below refer to Python handlers and hence need the plugin configured.
#
# instead of calling an NGC procedure, we call the remap.g886() Python function:
#
REMAP=G88.6  modalgroup=1 argspec=XYZp  py=g886
# see python/remap.py function g886
# to exercise, try:
# g88.6 x1 y2 z3
# g88.6 x1 y2 z3 p33 (a comment here)

# a more complex example
# based on nc_files/involute.py example and can it as a G-code
# all checking is done in the Python procedure by directly accessing interpreter internals
#
REMAP=G88.1 modalgroup=1   py=involute
# see python/remap.py function involute
#
#
# pin wiggling example - equivalent of M62
# usgage : M462 P<pin-number> Q<0 or 1>
REMAP=M462  modalgroup=10 argspec=PQ py=m462

# pin wiggling example - equivalent of M65
# usgage : M465 P<pin-number> Q<0 or 1>
REMAP=M465  modalgroup=10 argspec=PQ py=m465


# this is important - read nc_subroutines/on_abort.ngc
ON_ABORT_COMMAND=O <on_abort> call 

# 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 = axis_manualtoolchange.hal
HALFILE = simulated_home.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 =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      1.2
POSITION_FILE = position.txt
MAX_LINEAR_VELOCITY =   1.2
NO_FORCE_HOMING =       1

# Axes sections ---------------------------------------------------------------

# First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  4
MAX_ACCELERATION =              100.0
BACKLASH = 0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -40.0
MAX_LIMIT =                     40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                20.0
HOME_LATCH_VEL =                 20.0
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 =                  4
MAX_ACCELERATION =              100.0
BACKLASH = 0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -40.0
MAX_LIMIT =                     40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                20.0
HOME_LATCH_VEL =                 20.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1

# Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  4
MAX_ACCELERATION =              100.0
BACKLASH = 0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -8.0
MAX_LIMIT =                     8.00
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    1.0
HOME_SEARCH_VEL =                20.0
HOME_LATCH_VEL =                 20.0
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
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

#RANDOM_TOOLCHANGER = 1