# 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.
# General section -------------------------------------------------------------
[EMC]
# Version of this INI file
VERSION = $Revision: 1.3.2.3 $
# Name of machine, for use with display, etc.
MACHINE = EMC-DEMO-STEP-CL
# 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
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xemc
DISPLAY = axis
# DISPLAY = usrmot
# 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 = 1.2
# Prefix to be used
PROGRAM_PREFIX = /usr/share/emc/ncfiles
# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 2
# Enable popup balloon help
BALLOON_HELP = 1
# 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 = univstep.var
# Motion control section ------------------------------------------------------
[EMCMOT]
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 nanoseconds - this is the fastest thread in the machine
BASE_PERIOD = 50000
# Servo task period, in nanoseconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 1000000
# Trajectory Planner task period, in nanoseconds - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
# 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 = univstep_load.hal
# HALFILE = univstep_save.hal
HALFILE = univstep_servo.hal
HALFILE = univstep_motion.hal
HALFILE = univstep_io.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Trajectory planner section --------------------------------------------------
[TRAJ]
AXES = 4
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = 1
ANGULAR_UNITS = 1
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.167
MAX_VELOCITY = 33.3
DEFAULT_ACCELERATION = 3.0
MAX_ACCELERATION = 5.0
PROBE_INDEX = 0
PROBE_POLARITY = 1
# Axes sections ---------------------------------------------------------------
# First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 1
HOME = 0.000
MAX_VELOCITY = 33.3
MAX_ACCELERATION = 5.0
PID_MAX_VEL = 1.25
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 500 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 1.00
MIN_FERROR = 0.1
HOME_OFFSET = 0.0
HOME_SEA2RCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.002
P = 50
I = 0
D = 0
BIAS = 0.0
FF0 = 0
FF1 = 1
# Second axis
[AXIS_1]
TYPE = LINEAR
UNITS = 1
HOME = 0.000
MAX_VELOCITY = 33.3
MAX_ACCELERATION = 5.0
PID_MAX_VEL = 1.25
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 500 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 1.0
MIN_FERROR = 0.10
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.002
P = 50
I = 0
D = 0
BIAS = 0.0
FF0 = 0
FF1 = 1
# Third axis
[AXIS_2]
TYPE = LINEAR
UNITS = 1
HOME = 0.0
MAX_VELOCITY = 2.00
MAX_ACCELERATION = 5.0
PID_MAX_VEL = 1.25
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 500 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.02
MIN_FERROR = 0.004
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.002
P = 50
I = 0
D = 0.1
BIAS = 0.0
FF0 = 0
FF1 = 1
# Fourth axis
[AXIS_3]
TYPE = ANGULAR
UNITS = 1
HOME = 0.0
MAX_VELOCITY = 65
MAX_ACCELERATION = 5.0
PID_MAX_VEL = 66
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 11.11111111 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -3600.0
MAX_LIMIT = 3600.0
FERROR = 0.010
MIN_FERROR = 0.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.002
P = 150
I = 100
D = 0.1
BIAS = 0.0
FF0 = 0
FF1 = 1
# 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 = univstep.tbl
# section for external NML server parameters ----------------------------------
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr