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# 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 = racktoolchange.ini
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x7FFFFFFF
DEBUG = 0
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xemc
DISPLAY = axis
GLADEVCP=-c gladevcp racktoolchange.glade
OPEN_FILE=./nc_files/tcdemo.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
# 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
# the Python plugins serves interpreter and task
[PYTHON]
# where to find Python code
# code specific for this configuration
PATH_PREPEND=./python
# generic support code
PATH_APPEND=../../nc_files/remap_lib/python-stdglue
# 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:../../nc_files/remap_lib/common_nc_subs
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
# turn on all optional features except RETAIN_G43
FEATURES=30
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=rack_change epilog=change_epilog
# accessible in interp as #<_[section]name>
[TOOL_HOLDER_CLEAR]
X = 10
Y = 30
Z = 10
[TOOL_SLOT_DELTA]
X = 0
Y = 10
Z = 0
# this is not named TOOL_CHANGE_POSITION ón purpose - canon uses it and will
# interfere
[CHANGE_POSITION]
X = 10
Y = 10
Z = 10
[DWELL]
LOCK_TIME = 0.5
MYSTERY = 0
NEW_TOOL = 1.0
POST_UNLOCK = 0.5
# motion.digital-out-NN pins
[PINS]
LOCK = 0
FLUSH = 1
# 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 = racktoolchange.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 the racktoolchanger config
#tOOL_CHANGE_POSITION = 0 0 50.8
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