rendered paste body# EMC controller parameters for generic stepper controller. Make these what you need
# for your system.
# General section -------------------------------------------------------------
[EMC]
# Version of this INI file
VERSION = $Revision: 1.1.4.2 $
# Name of machine, for use with display, etc.
MACHINE = Generic
# Name of NML file to use, default is emc.nml
NML_FILE = generic.nml
# Debug level, 0 means no messages. See emc/src/emcnml/emcglb.h for others
DEBUG = 0x00000003
# DEBUG = 0x7FFFFFFF
# Startup codes for RS-274-NGC interpreter
RS274NGC_STARTUP_CODE = G20
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xemc
#DISPLAY = axis
DISPLAY = tkemc
#DISPLAY = keystick
# DISPLAY = emcpanel
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
# 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 = 3.0
# Startup settings for jog increments when using the mini gui.
# These (0.0001 0.0010 0.0100 0.1000 1.0000) work for linear.
# These (0.01 0.1 1 15 90) work for rotary.
DEFAULT_LINEAR_JOG_INCREMENT = 0.0010
DEFAULT_ROTARY_JOG_INCREMENT = 15
# Prefix to be used
PROGRAM_PREFIX = ~/gcode
# Introductory graphic
#INTRO_GRAPHIC = chips.gif
INTRO_TIME = 1
# Units for display, default would be AUTO
LINEAR_UNITS = AUTO
# LINEAR_UNITS = INCH
# LINEAR_UNITS = MM
# LINEAR_UNITS = CM
ANGULAR_UNITS = AUTO
# ANGULAR_UNITS = DEG
# ANGULAR_UNITS = RAD
# ANGULAR_UNITS = GRAD
# Enable popup balloon help
BALLOON_HELP = 1
; Task controller section -----------------------------------------------------
[TASK]
; Platform for task controller, e.g., realtime, nonrealtime
PLAT = nonrealtime
; Name of task controller program, e.g., bridgeporttask
;TASK = bridgeporttask
TASK = minimilltask
; Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.0024
; Part program interpreter section --------------------------------------------
[RS274NGC]
; File containing interpreter variables
PARAMETER_FILE = emc.var
; Motion control section ------------------------------------------------------
[EMCMOT]
; Platform for motion, e.g., realtime, nonrealtime
PLAT = realtime
; PLAT = nonrealtime
; Name of motion control program
; EMCMOT = steppermod.o
EMCMOT = freqmod
;.o
;;EMCMOT = steppersegmod.o
; EMCMOT = stgmod.o
; EMCMOT = stg2mod.o
; EMCMOT = emcmotsim
; Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 100
; Base address for physical shared memory, e.g., for real-time motion.
; Note that if you change this, you may need to change OS parameters, e.g.,
; /etc/lilo.conf
SHMEM_BASE_ADDRESS = 0x1F00000
; SHMEM_BASE_ADDRESS = 0x3F00000
; Base address of Servo To Go board
; IO_BASE_ADDRESS = 0x200
; IO_BASE_ADDRESS = 0x300
; Address for parallel port used for steppers
IO_BASE_ADDRESS = 0x378
; 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 seconds
; Don't use this if steppermod is being loaded.
PERIOD = 0.000024
; Address for motion IO, synchronized with motion start/end
MOTION_IO_ADDRESS = 0x3BC
; Trajectory planner section --------------------------------------------------
[TRAJ]
AXES = 3
; COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = 0.03937007874016
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.0024
DEFAULT_VELOCITY = 0.2
MAX_VELOCITY = 0.4
DEFAULT_ACCELERATION = 0.5
MAX_ACCELERATION = 0.5
PROBE_INDEX = 0
PROBE_POLARITY = 1
; Axes sections ---------------------------------------------------------------
; First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
#MAX_VELOCITY = .26
#DEFAULT_VELOCITY = .26
#
MAX_VELOCITY = .32
DEFAULT_VELOCITY = .32
MAX_ACCELERATION = 20.0
P = 50.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.0035
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.00007
CYCLE_TIME = 0.00024
INPUT_SCALE = 12800.000 0.000
OUTPUT_SCALE = 12800.000 0.000
MIN_LIMIT = -16
MAX_LIMIT = 16
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 0.050
MIN_FERROR = 0.010
HOMING_VEL = 0.1
SETUP_TIME = 2
HOLD_TIME = 4
HOME_OFFSET = 0.0
ENABLE_POLARITY = 0
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1
; Second axis
[AXIS_1]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
#MAX_VELOCITY = .26
#DEFAULT_VELOCITY = .26
MAX_VELOCITY = .32
DEFAULT_VELOCITY = .32
MAX_ACCELERATION = 20.0
P = 50.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.006
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.00007
CYCLE_TIME = 0.00024
INPUT_SCALE = -12800.000 0.000
OUTPUT_SCALE = -12800.000 0.000
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = .050
MIN_FERROR = 0.010
HOMING_VEL = 0.1
SETUP_TIME = 2
HOLD_TIME = 4
HOME_OFFSET = 0.0
ENABLE_POLARITY = 0
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1
; Third axis
[AXIS_2]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
#MAX_VELOCITY = 0.08
#DEFAULT_VELOCITY = 0.08
MAX_VELOCITY = 0.13
DEFAULT_VELOCITY = 0.13
MAX_ACCELERATION = 20.0
P = 50.0
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.00007
CYCLE_TIME = 0.00024
INPUT_SCALE = -32000.000 0.000
OUTPUT_SCALE = -32000.000 0.000
MIN_LIMIT = -3.5
MAX_LIMIT = 3.5
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = .050
MIN_FERROR = 0.010
HOMING_VEL = 0.1
SETUP_TIME = 2
HOLD_TIME = 4
HOME_OFFSET = 0.0
ENABLE_POLARITY = 0
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1
; section for main IO controller parameters -----------------------------------
[EMCIO]
; Platform for IO controller, e.g., realtime, nonrealtime
PLAT = nonrealtime
; Name of IO controller program, e.g., bridgeportio
;EMCIO = bridgeportio
EMCIO = minimillio
; EMCIO = simio
; cycle time, in seconds
CYCLE_TIME = 0.024
; tool table file
TOOL_TABLE = emc.tbl
; address for parallel port used for auxiliary IO
IO_BASE_ADDRESS = 0x378
; wait times in seconds for spindle brake, release
SPINDLE_OFF_WAIT = 0.1
SPINDLE_ON_WAIT = 0.1
; external digital inputs, outputs are always 0 for 0V, 1 for 5/24V
; digital in bits
ESTOP_SENSE_INDEX = 1
LUBE_SENSE_INDEX = 2
; digital in polarity, 0 is inverted, 1 is normal
; controller compares with polarity, equal means on, not equal means off
ESTOP_SENSE_POLARITY = 0
LUBE_SENSE_POLARITY = 1
; digital out bits
SPINDLE_FORWARD_INDEX = 9
SPINDLE_REVERSE_INDEX = -3
MIST_COOLANT_INDEX = -10
FLOOD_COOLANT_INDEX = -7
SPINDLE_DECREASE_INDEX = -6
SPINDLE_INCREASE_INDEX = -9
ESTOP_WRITE_INDEX = 8
SPINDLE_BRAKE_INDEX = -11
LUBE_WRITE_INDEX = -5
; analog out bits
SPINDLE_ON_INDEX = -4
MIN_VOLTS_PER_RPM = -0.001
MAX_VOLTS_PER_RPM = 0.001042
; digital out polarity, 0 is inverted, 1 is normal
; controller writes the polarity to turn on, opposite of polarity to turn off
SPINDLE_FORWARD_POLARITY = 1
SPINDLE_REVERSE_POLARITY = 1
MIST_COOLANT_POLARITY = 1
FLOOD_COOLANT_POLARITY = 1
SPINDLE_DECREASE_POLARITY = 1
SPINDLE_INCREASE_POLARITY = 1
ESTOP_WRITE_POLARITY = 0
SPINDLE_BRAKE_POLARITY = 1
SPINDLE_ENABLE_POLARITY = 1
LUBE_WRITE_POLARITY = 1
; section for external NML server parameters ----------------------------------
[EMCSERVER]
; Name of NML server, e.g., emcsvr; if not found then none will run
; EMCSERVER = emcsvr
; section for emc stripchart parameters ----------------------------------
[EMCSTRIP]
; Name of strip chart display program e.g. emcstripchart; if not found then none will run
; EMCSTRIP = emcstripchart
; OPTIONS for emcstripchart ussually -f something.conf; This file says which
; variables to plot, colors etc. -u changes the update rate.
OPTIONS = -f emcstrip.conf.ferror