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Post: Something on Sunday, June 11th, 2006 at 8:53:38pm MDT (2 secs ago)
This URL: http://pastebin.ca/64666
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# EMC controller parameters for generic controller. Make these what you need
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# for your system.
3.
4.
# General note: Comments can either be preceded with a # or ; - either is
5.
# acceptable, although # is in keeping with most linux config files.
6.
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# Settings with a + at the front of the comment are likely needed to get
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# changed by the user.
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# Settings with a - at the front are highly unneeded to be changed
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###############################################################################
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# General section
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###############################################################################
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[EMC]
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#+ Name of machine, for use with display, etc.
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MACHINE = stepper
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#- Name of NML file to use, default is configs/common/emc.nml
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NML_FILE = emc.nml
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#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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DEBUG = 0x00000001
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###############################################################################
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# Sections for display options
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###############################################################################
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[DISPLAY]
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#+ Name of display program, e.g., xemc
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DISPLAY = axis
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.200
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#- Path to help file
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HELP_FILE = doc/help.txt
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#- Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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#- Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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#+ Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 2.0
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#- Prefix to be used
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PROGRAM_PREFIX = ~/nc_files/
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#- Introductory graphic
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INTRO_GRAPHIC = emc2.gif
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INTRO_TIME = 5
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###############################################################################
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# Task controller section
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###############################################################################
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[TASK]
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#- Name of task controller program, e.g., bridgeporttask
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TASK = milltask
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# TASK = minimilltask
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#- Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.010
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###############################################################################
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# Part program interpreter section
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###############################################################################
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[RS274NGC]
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#- File containing interpreter variables
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PARAMETER_FILE = stepper.var
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###############################################################################
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# Motion control section
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###############################################################################
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[EMCMOT]
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#- Name of the motion controller to use (only one exists for nontrivkins)
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EMCMOT = motmod
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#- Key for real OS shared memory, e.g., for simulated motion
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SHMEM_KEY = 111
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#- Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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#- Interval between tries to emcmot, in seconds
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COMM_WAIT = 0.010
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#+ Base task period, in secs - this is the fastest thread in the machine
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BASE_PERIOD = 28409
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#- Servo task period, in secs - will be rounded to an int multiple of BASE_PERIOD
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SERVO_PERIOD = 1000000
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#- Trajectory Planner task period, in secs - will be rounded to an
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# integer multiple of SERVO_PERIOD
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TRAJ_PERIOD = 1000000
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###############################################################################
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# Hardware Abstraction Layer section
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###############################################################################
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[HAL]
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# The run script first uses halcmd to execute any HALFILE
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# files, and then to execute any individual HALCMD commands.
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#
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# list of hal config files to run through halcmd
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#+ files are executed in the order in which they appear
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HALFILE = core_stepper.hal
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HALFILE = pinout.hal
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#- list of halcmd commands to execute
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# commands are executed in the order in which they appear
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#HALCMD = save neta
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###############################################################################
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# Trajectory planner section
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###############################################################################
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[TRAJ]
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#+ machine specific settings
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AXES = 3
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COORDINATES = X Y Z
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HOME = 0 0 0
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LINEAR_UNITS = 0.0393700787402
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ANGULAR_UNITS = 1.0
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CYCLE_TIME = 0.010
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DEFAULT_VELOCITY = 0.0167
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MAX_VELOCITY = 1.2
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DEFAULT_ACCELERATION = 15.0
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MAX_ACCELERATION = 20.0
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PROBE_INDEX = 0
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PROBE_POLARITY = 1
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###############################################################################
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# Axes sections
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###############################################################################
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#+ First axis
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[AXIS_0]
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TYPE = LINEAR
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UNITS = 0.0393700787402
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HOME = 0.000
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MAX_VELOCITY = 1
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# NOTE: the step generator module applies its own limits to
145.
# acceleration and velocity. We have discovered that it needs
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# to have a little "headroom" over the accel by the trajectory
147.
# planner, otherwise it can fall slightly behind during accel
148.
# and later overshoot as it catches up. In the long term we
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# hope to come up with a clean fix for this problem. In the
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# meantime, please set STEPGEN_MAXACCEL below to a few percent
151.
# higher than the regular acceleration limit MAX_ACCELERATION
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MAX_ACCELERATION = 5
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STEPGEN_MAXVEL = 1.1
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STEPGEN_MAXACCEL = 5.5
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BACKLASH = 0
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CYCLE_TIME = 0.001000
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INPUT_SCALE = 16000 0
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OUTPUT_SCALE = 1.000 0.000
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MIN_LIMIT = -10
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MAX_LIMIT = 10
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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#+ Second axis
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[AXIS_1]
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TYPE = LINEAR
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UNITS = 0.0393700787402
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HOME = 0.000
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MAX_VELOCITY = 1
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MAX_ACCELERATION = 5
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STEPGEN_MAXVEL = 1.1
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STEPGEN_MAXACCEL = 5.5
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BACKLASH = 0
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CYCLE_TIME = 0.001000
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INPUT_SCALE = 16000 0
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OUTPUT_SCALE = 1.000 0.000
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MIN_LIMIT = -3.5
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MAX_LIMIT = 3.5
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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192.
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#+ Third axis
194.
[AXIS_2]
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TYPE = LINEAR
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UNITS = 0.0393700787402
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HOME = 0.000
198.
MAX_VELOCITY = 1
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MAX_ACCELERATION = 5
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STEPGEN_MAXVEL = 1.1
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STEPGEN_MAXACCEL = 5.5
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BACKLASH = 0
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CYCLE_TIME = 0.001000
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INPUT_SCALE = 16000 0
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OUTPUT_SCALE = 1.000 0.000
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MIN_LIMIT = 0
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MAX_LIMIT = 3.5
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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216.
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###############################################################################
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# section for main IO controller parameters
219.
###############################################################################
220.
[EMCIO]
221.
222.
#- Name of IO controller program, e.g., io
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EMCIO = io
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#- cycle time, in seconds
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CYCLE_TIME = 0.100
227.
228.
#- tool table file
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TOOL_TABLE = stepper.tbl
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231.
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###############################################################################
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# section for external NML server parameters
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###############################################################################
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[EMCSERVER]
236.
# Uncomment the following line if you need to run a remote GUI.
237.
# EMCSERVER = emcsvr
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# 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] #+ Name of machine, for use with display, etc. MACHINE = stepper #- 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 = 0x00000001 ############################################################################### # Sections for display options ############################################################################### [DISPLAY] #+ Name of display program, e.g., xemc DISPLAY = axis # 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 = 2.0 #- Prefix to be used PROGRAM_PREFIX = ~/nc_files/ #- 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 = 0.010 ############################################################################### # 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 #- 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 secs - this is the fastest thread in the machine BASE_PERIOD = 28409 #- Servo task period, in secs - will be rounded to an int multiple of BASE_PERIOD SERVO_PERIOD = 1000000 #- Trajectory Planner task period, in secs - will be rounded to an # integer multiple of SERVO_PERIOD TRAJ_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 = 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 = 3 COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = 0.0393700787402 ANGULAR_UNITS = 1.0 CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.0167 MAX_VELOCITY = 1.2 DEFAULT_ACCELERATION = 15.0 MAX_ACCELERATION = 20.0 PROBE_INDEX = 0 PROBE_POLARITY = 1 ############################################################################### # Axes sections ############################################################################### #+ First axis [AXIS_0] TYPE = LINEAR UNITS = 0.0393700787402 HOME = 0.000 MAX_VELOCITY = 1 # 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 = 5 STEPGEN_MAXVEL = 1.1 STEPGEN_MAXACCEL = 5.5 BACKLASH = 0 CYCLE_TIME = 0.001000 INPUT_SCALE = 16000 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -10 MAX_LIMIT = 10 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 = 0.0393700787402 HOME = 0.000 MAX_VELOCITY = 1 MAX_ACCELERATION = 5 STEPGEN_MAXVEL = 1.1 STEPGEN_MAXACCEL = 5.5 BACKLASH = 0 CYCLE_TIME = 0.001000 INPUT_SCALE = 16000 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -3.5 MAX_LIMIT = 3.5 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 = 0.0393700787402 HOME = 0.000 MAX_VELOCITY = 1 MAX_ACCELERATION = 5 STEPGEN_MAXVEL = 1.1 STEPGEN_MAXACCEL = 5.5 BACKLASH = 0 CYCLE_TIME = 0.001000 INPUT_SCALE = 16000 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = 0 MAX_LIMIT = 3.5 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 ############################################################################### # section for external NML server parameters ############################################################################### [EMCSERVER] # Uncomment the following line if you need to run a remote GUI. # EMCSERVER = emcsvr
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