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# EMC controller parameters for a simulated 5-axis MaxNC.
# 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
###############################################################################
# General section -------------------------------------------------------------
[EMC]
#- Version of this INI file
VERSION = $Revision$
#+ Name of machine, for use with display, etc.
MACHINE = Horizontal Boring Mill Simulation
#+ 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
#- Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
#- 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 = 2.0
#+ Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
#- Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# Editor to be used with Axis
EDITOR = gedit
###############################################################################
# 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 = hbm.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 nanoseconds
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 = hbm.hal
#POSTGUI_HALFILE = 5axis_postgui.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
#load halui to enable
HALUI = halui
###############################################################################
# Kinematics section
###############################################################################
[MAX]
# distance from the end of the "reference tool" (tool-length - 0) to the
# center of the head tilt axis
B_PIVOT_LENGTH = 0
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES = 9
COORDINATES = X Y Z W
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 3.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 8.0
DEFAULT_ACCELERATION = 8.0
TLO_IS_ALONG_W = 1
###############################################################################
# Axes sections
###############################################################################
[AXIS_0]
# this is the table
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 12.0
BACKLASH = 0.000
#INPUT_SCALE = 1000
#OUTPUT_SCALE = 1.000
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
FERROR = 0.200
MIN_FERROR = 0.050
HOME_OFFSET = -50.5
HOME_SEARCH_VEL = -3.0
HOME_LATCH_VEL = -0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
[AXIS_1]
# this is the head moving up and down the column
TYPE = LINEAR
HOME = 12.000
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 12.0
BACKLASH = 0.000
#INPUT_SCALE = 4000
#OUTPUT_SCALE = 1.000
MIN_LIMIT = 0.0
MAX_LIMIT = 100.0
FERROR = 0.200
MIN_FERROR = 0.050
HOME_OFFSET = -0.5
HOME_SEARCH_VEL = -3.0
HOME_LATCH_VEL = -0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
[AXIS_2]
# this is the saddle
TYPE = LINEAR
HOME = 20.000
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 8.0
BACKLASH = 0.000
#INPUT_SCALE = 4000
#OUTPUT_SCALE = 1.000
MIN_LIMIT = -25.0
MAX_LIMIT = 25.0
FERROR = 0.200
MIN_FERROR = 0.050
HOME_OFFSET = 25.5
HOME_SEARCH_VEL = 3.0
HOME_LATCH_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
[AXIS_8]
# this is the quill
TYPE = LINEAR
HOME = -0.100
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
#INPUT_SCALE = 4000
#OUTPUT_SCALE = 1.000
MIN_LIMIT = -42.0
MAX_LIMIT = 0.0
FERROR = 0.200
MIN_FERROR = 0.050
HOME_OFFSET = 0.5
HOME_SEARCH_VEL = 4.0
HOME_LATCH_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
###############################################################################
# this data is because EMC thinks that 9 axes requires 9 joints
###############################################################################
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 45
MAX_ACCELERATION = 225
BACKLASH = 0.000
INPUT_SCALE = 80
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10000
MAX_LIMIT = 10000
FERROR = 0.50
MIN_FERROR = 0.10
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[AXIS_4]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 45
MAX_ACCELERATION = 225
BACKLASH = 0.000
INPUT_SCALE = 80
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10000
MAX_LIMIT = 10000
FERROR = 0.50
MIN_FERROR = 0.10
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[AXIS_5]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 45
MAX_ACCELERATION = 225
BACKLASH = 0.000
INPUT_SCALE = 80
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10000
MAX_LIMIT = 10000
FERROR = 0.50
MIN_FERROR = 0.10
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[AXIS_6]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 20
MAX_ACCELERATION = 100
BACKLASH = 0.000
INPUT_SCALE = 6400
OUTPUT_SCALE = 1.000
MIN_LIMIT = -150
MAX_LIMIT = 150
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[AXIS_7]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 20
MAX_ACCELERATION = 100
BACKLASH = 0.000
INPUT_SCALE = 6400
OUTPUT_SCALE = 1.000
MIN_LIMIT = -150
MAX_LIMIT = 150
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 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 = hbm.tbl
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