# 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: 1.5.2.4 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-HAL-STEP-MM
#- Name of NML file to use, default is emc.nml
NML_FILE = emc.nml
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
# DEBUG = 0x00000001
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
DEBUG = 0
PROGRAM_FILTER = /root/Projects/dxf/src/dxf
#PROGRAM_FILTER = /root/Projects/PLT/src/plt
#PROGRAM_FILTER = python /usr/EMCconfig/axis_filtr_plt.py
PROGRAM_EXTENSION = *.plt pliki PLT
PROGRAM_EXTENSION = *.PLT pliki PLT
PROGRAM_EXTENSION = *.hpg pliki PLT
PROGRAM_EXTENSION = *.HPG pliki PLT
PROGRAM_EXTENSION = *.dxf pliki DXF
PROGRAM_EXTENSION = *.DXF pliki DXF
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ Name of display program, e.g., xemc
DISPLAY = axis
# axis is an external interface, check http://axis.unpy.net/
# 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 = 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 = 1.2
#- Prefix to be used
PROGRAM_PREFIX = /WYMIANA
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1
co ile odswiezanie ekranu [ms]
PREVIEW_REFRESH_TIME = 20
# jednostka wyswietlania
POSITION_UNIT = mm
#+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
# krok paska predkosci %
FEED_OVERRIDE_STEP = 5.0
# krok predkosci recznej w mm/min
JOGSPEED_STEP = 0.005
###############################################################################
# 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 = 0.002
###############################################################################
# Part program interpreter section
###############################################################################
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = ploter.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 = 37000
#- 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 = 10000000
###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]
HALUI=halui
HALFILE = ploter_core.hal
HALFILE = ploter_pinout.hal
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES = 3
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 100
LINEAR_UNITS = 1.0
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 75
MAX_VELOCITY = 100
DEFAULT_ACCELERATION = 230.0
MAX_ACCELERATION = 400.0
PROBE_INDEX = 0
PROBE_POLARITY = 1
MAX_JOGSPEED = 60
###############################################################################
# Axes sections
###############################################################################
#+ First axis X
[AXIS_0]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.0
MAX_VELOCITY = 70
# 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 = 350.0
STEPGEN_MAXVEL = 115
STEPGEN_MAXACCEL = 400.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 100
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -1.5
MAX_LIMIT = 1125.0
FERROR = 10
MIN_FERROR = 0.354
HOME_OFFSET = 8
HOME_SEARCH_VEL = -40
HOME_LATCH_VEL = 5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
#+ Second axis Y
[AXIS_1]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 65
MAX_ACCELERATION = 200.0
STEPGEN_MAXVEL = 85
STEPGEN_MAXACCEL = 270.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 100.01
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -2.5
MAX_LIMIT = 1546.0
FERROR = 20
MIN_FERROR = 0.354
HOME_OFFSET = 3
HOME_SEARCH_VEL = -30
HOME_LATCH_VEL = 5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
#+ Third axis Z
[AXIS_2]
TYPE = LINEAR
UNITS = 1
HOME = 72.0
MAX_VELOCITY = 25
#MAX_VELOCITY = 25
MAX_ACCELERATION = 300.0
#MAX_ACCELERATION = 300.0
STEPGEN_MAXVEL = 40
#STEPGEN_MAXVEL = 40
STEPGEN_MAXACCEL = 380.0
#STEPGEN_MAXACCEL = 380.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 100.0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -0.19
MAX_LIMIT = 72.2
FERROR = 20
MIN_FERROR = 0.354
HOME_OFFSET = 64.0
HOME_SEARCH_VEL = 23
HOME_LATCH_VEL = -5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
###############################################################################
# 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 = ploter.tbl
###############################################################################
# section for external NML server parameters
###############################################################################
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr