159 lines
3.8 KiB
INI
Executable File
159 lines
3.8 KiB
INI
Executable File
# EMC controller parameters for a simulated machine.
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[TOUCHY]
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MACRO=increment xinc yinc
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MACRO=probe-hole maxradius
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[EMC]
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VERSION = 1.1
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# Name of machine, for use with display, etc.
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MACHINE = LinuxCNC-TOUCHY
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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#DEBUG = 0x7FFFFFFF
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DEBUG = 0x10
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[DISPLAY]
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DISPLAY = touchy
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PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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# EMBED_TAB_NAME = Tools
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# EMBED_TAB_COMMAND = xterm -into {XID} -rv -fn lucidasanstypewriter-bold-14 -e watch -n1 cat simpockets.tbl
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = sim.var
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[EMCMOT]
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EMCMOT = motmod
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# Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
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BASE_PERIOD = 0
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# Servo task period, in nano-seconds
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SERVO_PERIOD = 1000000
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[HAL]
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HALFILE = core_sim.hal
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# add a test panel so people can actually test the screen
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HALCMD = loadusr gladevcp --always_above -c touchy_test touchy_test_panel.glade
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POSTGUI_HALFILE = touchy_postgui.hal
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[TRAJ]
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COORDINATES = X Y Z
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 1.2
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MAX_LINEAR_VELOCITY = 4
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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[AXIS_X]
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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[AXIS_Y]
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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[AXIS_Z]
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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# First axis
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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# Second axis
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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# Third axis
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -40.0
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MAX_LIMIT = 40.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 1.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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# section for main IO controller parameters -----------------------------------
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[EMCIO]
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# Name of IO controller program, e.g., io
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EMCIO = io
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# cycle time, in seconds
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CYCLE_TIME = 0.100
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# tool table file
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TOOL_TABLE = simpockets.tbl
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TOOL_CHANGE_POSITION = 0 0 2
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RANDOM_TOOLCHANGER = 1
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