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configs/sim.qtplasmac/qtplasmac_metric_ini.inc

@@ -0,0 +1,160 @@
+
+[FILTER]
+PROGRAM_EXTENSION       = .ngc,.nc,.tap GCode File (*.ngc, *.nc, *.tap)
+ngc                     = qtplasmac_gcode
+nc                      = qtplasmac_gcode
+tap                     = qtplasmac_gcode
+
+[RS274NGC]
+RS274NGC_STARTUP_CODE   = G21 G40 G49 G80 G90 G92.1 G94 G97 M52P1
+PARAMETER_FILE          = metric_parameters.txt
+SUBROUTINE_PATH         = ./:../../nc_files
+USER_M_PATH             = ./:../../nc_files
+
+[HAL]
+TWOPASS                 = ON
+HALFILE                 = sim_no_stepgen.tcl
+#HALFILE                 = sim_stepgen.tcl
+HALFILE                 = qtplasmac_comp.hal
+HALFILE                 = custom.hal
+POSTGUI_HALFILE         = custom_postgui.hal
+POSTGUI_HALFILE         = sim_postgui.hal
+HALUI                   = halui
+
+[EMC]
+VERSION                 = 1.1
+MACHINE                 = qtplasmac-metric
+DEBUG                   = 0
+
+[EMCIO]
+EMCIO                   = io
+CYCLE_TIME              = 0.100
+TOOL_TABLE              = metric_tool.tbl
+
+[TASK]
+TASK                    = milltask
+CYCLE_TIME              = 0.01
+
+[EMCMOT]
+EMCMOT                  = motmod
+BASE_PERIOD             = 100000
+SERVO_PERIOD            = 1000000
+
+[KINS]
+KINEMATICS              = trivkins coordinates=xyyz
+JOINTS                  = 4
+
+[TRAJ]
+SPINDLES                = 3
+COORDINATES             = XYYZ
+LINEAR_UNITS            = mm
+MAX_LINEAR_VELOCITY     = 350
+DEFAULT_LINEAR_VELOCITY = 100
+ANGULAR_UNITS           = degree
+POSITION_FILE           = metric_position.txt
+
+[AXIS_X]
+MIN_LIMIT               = -0.001
+MAX_LIMIT               = 1200.001
+# set to double the value in the corresponding joint
+MAX_VELOCITY            = 500.0
+# set to double the value in the corresponding joint
+MAX_ACCELERATION        = 5000.0
+# shares the above two equally between the joint and the offset
+OFFSET_AV_RATIO         = 0.5
+
+[JOINT_0]
+MIN_LIMIT               = -0.001
+MAX_LIMIT               = 1200.001
+MAX_VELOCITY            = 250
+MAX_ACCELERATION        = 2500
+TYPE                    = LINEAR
+MIN_FERROR              = 5.0
+FERROR                  = 10.0
+HOME                    = 0.0
+HOME_OFFSET             = 0.0
+HOME_SEQUENCE           = 1
+HOME_USE_INDEX          = NO
+STEPGEN_MAXACCEL        = 5000
+STEP_SCALE              = 1
+STEPLEN                 = 1
+STEPSPACE               = 0
+DIRSETUP                = 8000
+DIRHOLD                 = 5000
+
+[AXIS_Y]
+MIN_LIMIT               = -0.001
+MAX_LIMIT               = 1200.001
+# set to double the value in the corresponding joint
+MAX_VELOCITY            = 500.0
+# set to double the value in the corresponding joint
+MAX_ACCELERATION        = 5000.0
+# shares the above two equally between the joint and the offset
+OFFSET_AV_RATIO         = 0.5
+
+[JOINT_1]
+MIN_LIMIT               = -0.001
+MAX_LIMIT               = 1200.001
+MAX_VELOCITY            = 250
+MAX_ACCELERATION        = 2500
+TYPE                    = LINEAR
+MIN_FERROR              = 5.0
+FERROR                  = 10.0
+HOME                    = 0.0
+HOME_OFFSET             = 0.0
+HOME_SEQUENCE           = -2
+HOME_USE_INDEX          = NO
+STEPGEN_MAXACCEL        = 5000
+STEP_SCALE              = 1
+STEPLEN                 = 1
+STEPSPACE               = 0
+DIRSETUP                = 8000
+DIRHOLD                 = 5000
+
+[JOINT_2]
+MIN_LIMIT               = -0.001
+MAX_LIMIT               = 1200.001
+MAX_VELOCITY            = 250
+MAX_ACCELERATION        = 2500
+TYPE                    = LINEAR
+MIN_FERROR              = 5.0
+FERROR                  = 10.0
+HOME                    = 0.0
+HOME_OFFSET             = 0.0
+HOME_SEQUENCE           = -2
+HOME_USE_INDEX          = NO
+STEPGEN_MAXACCEL        = 5000
+STEP_SCALE              = 1
+STEPLEN                 = 1
+STEPSPACE               = 0
+DIRSETUP                = 8000
+DIRHOLD                 = 5000
+
+[AXIS_Z]
+MIN_LIMIT               = -0.001
+MAX_LIMIT               = 100.001
+# set to double the value in the corresponding joint
+MAX_VELOCITY            = 120.0
+# set to double the value in the corresponding joint
+MAX_ACCELERATION        = 1200.0
+# shares the above two equally between the joint and the offset
+OFFSET_AV_RATIO         = 0.5
+
+[JOINT_3]
+MIN_LIMIT               = -0.001
+MAX_LIMIT               = 100.001
+MAX_VELOCITY            = 60
+MAX_ACCELERATION        = 600
+TYPE                    = LINEAR
+MIN_FERROR              = 5.0
+FERROR                  = 10.0
+HOME                    = 95.0
+HOME_OFFSET             = 100.0
+HOME_SEQUENCE           = 0
+HOME_USE_INDEX          = NO
+STEPGEN_MAXACCEL        = 1200.0
+STEP_SCALE              = 1
+STEPLEN                 = 1
+STEPSPACE               = 0
+DIRSETUP                = 8000
+DIRHOLD                 = 5000