forked from LinuxCNC/linuxcnc
-
Notifications
You must be signed in to change notification settings - Fork 2
/
axis_mm.ini
265 lines (214 loc) · 6.28 KB
/
axis_mm.ini
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
# 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 = 1.1
# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-HAL-SIM-AXIS
# Debug level, 0 means no messages. ~/linuxcnc/src/emc/nml_intf/debugflags.h for others
DEBUG = 0x7FFFFFFF
# DEBUG = 0
#define EMC_DEBUG_CONFIG 0x00000002
#define EMC_DEBUG_VERSIONS 0x00000008
#define EMC_DEBUG_TASK_ISSUE 0x00000010
#define EMC_DEBUG_NML 0x00000040
#define EMC_DEBUG_MOTION_TIME 0x00000080
#define EMC_DEBUG_INTERP 0x00000100
#define EMC_DEBUG_RCS 0x00000200
#define EMC_DEBUG_INTERP_LIST 0x00000800
#define EMC_DEBUG_IOCONTROL 0x00001000
#define EMC_DEBUG_OWORD 0x00002000
#define EMC_DEBUG_REMAP 0x00004000
#define EMC_DEBUG_PYTHON 0x00008000
#define EMC_DEBUG_NAMEDPARAM 0x00010000
#define EMC_DEBUG_GDBONSIGNAL 0x00020000
#define EMC_DEBUG_PYTHON_TASK 0x00040000
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., axis
DISPLAY = axis
# 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 = linuxcnc.gif
INTRO_TIME = 5
#EDITOR = geany
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 = python3
# 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]
# File containing interpreter variables
PARAMETER_FILE = sim_mm.var
# Motion control section ------------------------------------------------------
[EMCMOT]
# Jogging normal.
# EMCMOT = motmod
# Jogging scurve.
EMCMOT = motmod_scurve
# Using ruckig-dev jogging.
#EMCMOT = motmod_T800
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# 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
# 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 = sim_mm.tbl
TOOL_CHANGE_POSITION = 0 0 50.8
# 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 = sim_spindle_encoder.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
HALFILE = cooling.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
HALUI = halui
# Trajectory planner section --------------------------------------------------
[TRAJ]
# Original lcnc motion planner, written by Rob Ellenberg.
# TPMOD=tpmod
# Original lcnc motion planner using scurve runners.
# TPMOD=tpmod_runners
# Working scurve motion planner using Ruckig, excl. look ahead.
# TPMOD=tpmod_scurve
# Experimental scurve motion planner using Ruckig, incl. look ahead.
TPMOD=tpmod_scurve_skynet
# Experimental older motion planner
# TPMOD=sc_tp
# Show the trajectory planners program flow.
# TPMOD=tpmod_template
# Latest scurve planner, using velocity ends. In coding progress.
# TPMOD=tpmod_T800
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 30.48
MAX_LINEAR_VELOCITY = 53.34
DEFAULT_LINEAR_ACCELERATION = 508
MAX_LINEAR_ACCELERATION = 508
POSITION_FILE = position_mm.txt
[KINS]
KINEMATICS = trivkins
JOINTS = 3
# Axes sections ---------------
[AXIS_X]
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
MIN_LIMIT = -100000
MAX_LIMIT = 100000
MAX_JERK = 500
[AXIS_Y]
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
MIN_LIMIT = -100000
MAX_LIMIT = 100000
MAX_JERK = 500
[AXIS_Z]
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 508
MIN_LIMIT = -100000
MAX_LIMIT = 100000
MAX_JERK = 500
# Joints sections -------------
[JOINT_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 = -100000
MAX_LIMIT = 100000
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 = YES
HOME_SEQUENCE = 1
HOME_IS_SHARED = 0
MAX_JERK = 500
[JOINT_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 = -100000
MAX_LIMIT = 100000
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 = YES
HOME_SEQUENCE = 1
MAX_JERK = 500
[JOINT_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 = -100000
MAX_LIMIT = 100000
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 = YES
HOME_SEQUENCE = 1
HOME_IS_SHARED = 0
MAX_JERK = 500