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# adapted from axis_9axis.ini for xhc-hb04 demo
[XHC_HB04_CONFIG]
# specify layout = n for xhc-hb04-layout{n}.cfg files
layout = 1
# coords: specify 4 letters
# coords: switch labels are xyza but any unique 4 letters
# from the set {xyxabcuvw) can be used (if the coord exists)
coords = x y z c
# lowpass settings:
# coef: slows rate of change of output, range: 0 < coef < 1
coefs = 1 1 1 1
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 -1 1 1
# jogmode normal(default) or vnormal or plus-minus
jogmode = normal
# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
sequence = 2
# require_pendant = no: create xhc-hb04 hal pins when pendant not connecte
# at startup
require_pendant = yes
[XHC_HB04_BUTTONS]
# use button names according to layout file xhc-hb04-layout{n}.cfg
# note: "start-pause" is connected for standard behavior
# controlling halui.pause/halui.resume/halui.run
# these are examples, edit as required:
stop = halui.program.stop
start-pause = std_start_pause
rewind = halui.program.step
safe-z = halui.mdi-command-01
# in this sim, home-all only works first time, hold down till finished:
home = halui.home-all
x2 = halui.mdi-command-02
y2 = halui.mdi-command-03
# probe-input for simulating a probe:
probe-z = motion.probe-input
x0 = halui.mdi-command-04
y0 = halui.mdi-command-05
z0 = halui.mdi-command-06
goto-zero = halui.mdi-command-00
# synthesized per-axis buttons for goto-zero button:
goto-zero-x = ""
goto-zero-y = ""
goto-zero-z = ""
goto-zero-a = ""
step = xhc-hb04.stepsize-up
mode = ""
spindle = ""
reset = halui.estop.activate
[HALUI]
# these are examples, edit as required:
# a halui hal pin is created for each MDI_COMMAND below
# halui.mdi-command-00, halui.mdi-command-01,... etc
MDI_COMMAND=G0 X0 Y0 Z0
MDI_COMMAND=(debug, example: mdi-01)
MDI_COMMAND=(debug, example: mdi-02)
#03 M110: clears notifications
MDI_COMMAND=M110
MDI_COMMAND=(debug, example: mdi-04)
MDI_COMMAND=(debug, example: mdi-05)
MDI_COMMAND=(debug, example: mdi-06)
#07 M101: example print to stdout
MDI_COMMAND=M101
MDI_COMMAND=(debug, example: mdi-08)
MDI_COMMAND=(debug, example: mdi-09)
MDI_COMMAND=(debug, example: mdi-10)
MDI_COMMAND=(debug, example: mdi-11)
MDI_COMMAND=(debug, example: mdi-12)
MDI_COMMAND=(debug, example: mdi-13)
MDI_COMMAND=(debug, example: mdi-14)
MDI_COMMAND=(debug, example: mdi-15)
[EMC]
MACHINE = xhc-hb04 layout1 demo
DEBUG = 0
[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
EDITOR = gedit
GEOMETRY = XYZABCUVW
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]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
PARAMETER_FILE = sim-9axis.var
SUBROUTINE_PATH = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
# for demo of M110:
USER_M_PATH = ../../nc_files/ngcgui_lib/mfiles
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HAL]
HALFILE = core_sim9.hal
HALFILE = sim_spindle_encoder.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
HALFILE = xhc-hb04.tcl
HALFILE = monitor_xhc-hb04.tcl
HALUI = halui
[TRAJ]
NO_FORCE_HOMING = 1
AXES = 9
COORDINATES = X Y Z A B C U V W
HOME = 0 0 0 0 0 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.0
DEFAULT_ANGULAR_VELOCITY = 45.0
POSITION_FILE = position9.txt
MAX_LINEAR_VELOCITY = 1.2
MAX_ANGULAR_VELOCITY = 90.0
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_4]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 45.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_5]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
[AXIS_6]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
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
HOME_IS_SHARED = 0
[AXIS_7]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
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
HOME_IS_SHARED = 0
[AXIS_8]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
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
HOME_IS_SHARED = 0
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 2
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