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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 = owordm6-ui-ns
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0x7FFFFFFF
#DEBUG = 0
# 0x00000001 Ausgabe ungültige Meldungen
# 0x00000002 Ausgabe Konfigurations-Settings
# 0x00000004 Ausgabe Defaults
# 0x00000008 Ausgabe Version
# 0x00000010 Ausgabe Task Meldungen
# 0x00000020 Ausgabe IO-Points
# 0x00000040 Ausgabe NML-Messages
# 0x00000080 Ausgabe Zeit zur Beendigung einer Motorbewegung
# 0x00000100 Ausgabe Intepreter Debugging
# 0x00000200 Ausgabe RCS-Debugging
# 0x00000400 Ausgabe Roh-Bahn-Daten
# 0x00000800 Ausgabe Interpreter List
# 0x7FFFFFFF Ausgabe alle Debugging Messages
# Sections for display options ------------------------------------------------
[DISPLAY]
GLADEVCP=osubdemo-ns.ui
# Name of display program, e.g., xemc
DISPLAY = axis
OPEN_FILE=./toolchange-demo.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
# Part program interpreter section --------------------------------------------
[RS274NGC]
SUBROUTINE_PATH = ../../nc_files/remap_lib/common_nc_subs
# remap T<pocket> to a named oword subroutine.
# The tool number will be passed as parameter #1
# The pocket number will be passed as parameter #2
# if positive return value, commits the tool prepare.
# Otherwise just a procedure call.
T_COMMAND=o<tdemo>call
# remap M6 to a named oword subroutine.
# parameter #1: the current tool-in-spindle
# parameter #2: the tool number requested in the last T (prepare) command
# parameter #3: pocket of new tool
# param #3 at this point in time is useless - dont rely on its value.
# This will change once iocontrol is history, and tooltable I/O is
# moved to the interpreter.
# if positive return value, commits the tool change.
# Otherwise just a procedure call.
M6_COMMAND=o<m6demo>call
# called on M61 with Q-number as parameter #1
# if positive return value, commits the tool number change.
# Otherwise just a procedure call.
M61_COMMAND=o<m61demo>call
# handler procedure called on aborts - to cleanup HAL pins etc
ON_ABORT_COMMAND=o<on_abort>call
LOG_LEVEL =0
# File containing interpreter variables
PARAMETER_FILE = sim_mm.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_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_owordsub_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
POSTGUI_HALFILE = v2_oword_gladevcp_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
# explicitly support the start-change protocol.
# needs to be explicitly enabled for backwards compatibility.
# NB: if the start-change pin isnt used it needs to be looped like below to
# start-change-ack or an M6 will hang waiting for start-change-ack:
# net start-change iocontrol.0.start-change iocontrol.0.start-change-ack
#EMCIO = iov2 -support-start-change
# starting iov2 like so will create the start-change and start-change-ack pins
# but the start-change protocol remains disabled - start-change remains low and
# start-change-ack is ignored:
EMCIO = iov2
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = sim_mm_test.tbl
TOOL_CHANGE_POSITION = 0 0 50.8
RANDOM_TOOLCHANGER = 1
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