N0 G64P0.001
N1 G00 X0. Y0. Z0.15
N2 X1.
N3 G01 Z-0.035 F7.
N4 G03 X0. Y1. I-1. J0.F30
N5 X-1. Y0. I0. J-1.
N6 X0. Y-1. I1. J0.
N7 X1. Y0. I0. J1.
N8 G00 Z0.15
ini file
# 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: 1.3.2.5 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-HAL-STEP-IN
#- Name of NML file to use, default is configs/common/emc.nml
NML_FILE = emc.nml
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
# DEBUG = 0x00000000
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
DEBUG = 0
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ 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 = 0.100
#- Path to help file
HELP_FILE = help/tkemc.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 = 1.5
#- Prefix to be used
PROGRAM_PREFIX = /usr/share/emc/ncfiles
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
###############################################################################
# Task controller section
###############################################################################
[TASK]
#- Name of task controller program, e.g., bridgeporttask
TASK = milltask
# TASK = minimilltask
#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.01
###############################################################################
# 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
#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 111
#- 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 = 25000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD = 1000000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 5000000
###############################################################################
# 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 = stepper_xyza.hal
#HALFILE = xylotex_pinout.hal
HALFILE = standard_pinout.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES = 4
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z A
HOME = 0 0 0
LINEAR_UNITS = 0.03937007874016
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.5
MAX_VELOCITY = 1.0
DEFAULT_ACCELERATION = 25.0
MAX_ACCELERATION = 25.0
PROBE_INDEX = 0
PROBE_POLARITY = 1
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = 1.0
# 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 = 1.0
STEPGEN_MAXVEL = 1.3
STEPGEN_MAXACCEL = 20.2
BACKLASH = 0.0033
CYCLE_TIME = 0.001000
INPUT_SCALE = 4000.0 0
OUTPUT_SCALE = 1.000 0.000
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
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.3
STEPGEN_MAXACCEL = 20.2
BACKLASH = 0.0035
CYCLE_TIME = 0.001000
INPUT_SCALE = 4000.0 0
OUTPUT_SCALE = 1.000 0.000
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
UNITS = 0.03937007874016
HOME = 0.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.3
STEPGEN_MAXACCEL = 20.2
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 4000.0 0
OUTPUT_SCALE = 1.000 0.000
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
#+ Third axis
[AXIS_3]
TYPE = ANGULAR
UNITS = 1.0
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 360.0
STEPGEN_MAXVEL = 99.0
STEPGEN_MAXACCEL = 396.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 40.0 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -36000.0
MAX_LIMIT = 36000.0
FERROR = 5.0
MIN_FERROR = 1.0
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
###############################################################################
# section for external NML server parameters
###############################################################################
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr