# EMC controller parameters for generic controller. Make these what you need # for your system. # General note: Comments can either be preceded with a # or ; - either is # acceptable, although # is in keeping with most linux config files. # Settings with a + at the front of the comment are likely needed to get # changed by the user. # Settings with a - at the front are highly unneeded to be changed ############################################################################### # General section ############################################################################### [EMC] #- Version of this INI file VERSION = $Revision$ #+ Name of machine, for use with display, etc. MACHINE = LinuxCNC-HAL-STEP-IN #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0 # DEBUG = 0x00000007 # DEBUG = 0x7FFFFFFF ############################################################################### # Sections for display options ############################################################################### [DISPLAY] PYVCP = vcp.xml #+ Name of display program, e.g., xemc DISPLAY = axis # DISPLAY = usrmot # DISPLAY = mini # DISPLAY = tkemc # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.200 #- 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 MAX_LINEAR_VELOCITY = 12 #- Prefix to be used PROGRAM_PREFIX = /home/samco/linuxcnc/nc_files #- Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 # Editor to be used with Axis EDITOR = gedit ############################################################################### # 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 = stepper.var ############################################################################### # Motion control section ############################################################################### [EMCMOT] #- Name of the motion controller to use (only one exists for nontrivkins) 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 nanosecs - this is the fastest thread in the machine BASE_PERIOD = 35000 #- Servo task period, in nanosecs - will be rounded to an int 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 = core_stepper.hal #HALFILE = xylotex_pinout.hal HALFILE = standard_pinout.hal HALFILE = check_constraints.hal #- list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta POSTGUI_HALFILE = postgui.hal HALUI = halui ############################################################################### # Trajectory planner section ############################################################################### [TRAJ] #+ machine specific settings AXES = 3 # COORDINATES = X Y Z A B C COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.0167 MAX_VELOCITY = 15 ARC_BLEND_ENABLE = 1 ARC_BLEND_FALLBACK_ENABLE = 1 ARC_BLEND_OPTIMIZATION_DEPTH = 50 ARC_BLEND_SMOOTHING_THRESHOLD = 0.4 ############################################################################### # Axes sections ############################################################################### #+ First axis [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 8.3333 # NOTE: the step generator module applies its own limits to # acceleration and velocity. We have discovered that it needs # to have a little "headroom" over the accel by the trajectory # planner, otherwise it can fall slightly behind during accel # and later overshoot as it catches up. In the long term we # hope to come up with a clean fix for this problem. In the # meantime, please set STEPGEN_MAXACCEL below to a few percent # higher than the regular acceleration limit MAX_ACCELERATION MAX_ACCELERATION = 40.0 STEPGEN_MAXACCEL = 50.0 BACKLASH = 0.000 SCALE = 1500 OUTPUT_SCALE = 1.000 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 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 #+ Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 8.3333 MAX_ACCELERATION = 40.0 STEPGEN_MAXACCEL = 50.0 BACKLASH = 0.000 SCALE = 1500 OUTPUT_SCALE = 1.000 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 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 #+ Third axis [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 8.3333 MAX_ACCELERATION = 40.0 STEPGEN_MAXACCEL = 50.0 BACKLASH = 0.000 SCALE = 1500 OUTPUT_SCALE = 1.000 MIN_LIMIT = -2.0 MAX_LIMIT = 4.0 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 ############################################################################### # 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 = stepper.tbl