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