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# EMC controller parameters for a simulated servo 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 =               LinuxCNC-HAL-SERVO-SIM

# 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 =             tkemc

# 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

# 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 = 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

# Base task period, in nano-seconds - this is the fastest thread in the machine
BASE_PERIOD =               50000
# Servo task period, in nano-seconds - will be rounded to an integer multiple
#   of BASE_PERIOD
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 = servo_sim.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta

# 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 =      0.167
MAX_VELOCITY =          1.5
DEFAULT_ACCELERATION =  20.0
MAX_ACCELERATION =      20.0

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

# out simulated "axis" consist of motors with 100 PPR
# (400 count per rev) encoders, coupled to 5 TPI screws
# thru a 3:1 belt reduction.
# So the scaling is 400 CPR * 3 * 5 = 6000 counts/inch
# Since we are using software encoder counters with a 
# base period of 50uS (20KHz) the maximum count rate is
# 10KHz, which works out to 1.667 inches per second.
# 
# First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  1.67
MAX_ACCELERATION =              20.0
BACKLASH = 0.000
COMP_FILE = screwcompX.dat
COMP_FILE_TYPE = 0
MOTOR_PPR =                     100
DRIVE_RATIO =                   15
INPUT_SCALE =                   6000
OUTPUT_SCALE = 1.000
# extra limit related info for simulation
# the HARD_LIMIT variables determine when the simulated
# hardware limit switches trip and release
MIN_HARD_LIMIT_RELEASE =        -10.5
MIN_HARD_LIMIT =                -10.2
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
MAX_HARD_LIMIT =                10.2
MAX_HARD_LIMIT_RELEASE =        10.5
# the HOME_SW variables determine when the simulated 
# home switch trips and releases
HOME_SW_MIN =                   9.5
HOME_SW_MAX =                   9.8
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                   10.0
HOME_SEARCH_VEL =                1.0
HOME_LATCH_VEL =                 0.5
HOME_USE_INDEX =                 YES
HOME_IGNORE_LIMITS =             NO
# PID tuning params
DEADBAND =  0.0001
PGAIN =     1500.0
IGAIN =     8000.0
DGAIN =        4.0
FF0 =       0.000
FF1 =       1.000
FF2 =       0.000
BIAS =      0.000

# Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  1.67
MAX_ACCELERATION =              20.0
BACKLASH = 0.000
MOTOR_PPR =                     100
DRIVE_RATIO =                   15
INPUT_SCALE =                   6000
OUTPUT_SCALE = 1.000
MIN_HARD_LIMIT_RELEASE =        -10.5
MIN_HARD_LIMIT =                -10.2
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
MAX_HARD_LIMIT =                10.2
MAX_HARD_LIMIT_RELEASE =        10.5
HOME_SW_MIN =                   9.5
HOME_SW_MAX =                   9.8
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
# PID tuning params
DEADBAND =  0.0001
PGAIN =     1500.0
IGAIN =     8000.0
DGAIN =        4.0
FF0 =       0.000
FF1 =       1.000
FF2 =       0.000
BIAS =      0.000

# Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  1.67
MAX_ACCELERATION =              20.0
BACKLASH = 0.000
MOTOR_PPR =                     100
DRIVE_RATIO =                   15
INPUT_SCALE =                   6000
OUTPUT_SCALE = 1.000
MIN_HARD_LIMIT_RELEASE =        -2.5
MIN_HARD_LIMIT =                -2.2
MIN_LIMIT =                     -2.0
MAX_LIMIT =                     4.0
MAX_HARD_LIMIT =                4.2
MAX_HARD_LIMIT_RELEASE =        4.5
HOME_SW_MIN =                   0.0
HOME_SW_MAX =                   0.1
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
# PID tuning params
DEADBAND =  0.0001
PGAIN =     1500.0
IGAIN =     8000.0
DGAIN =        4.0
FF0 =       0.000
FF1 =       1.000
FF2 =       0.000
BIAS =      0.000

# 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