# Configuração da Epica Automação
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# Sesão Geral
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[EMC]
#- Versão do arquivo INI
VERSION = $Revision: 1.3.2.5 $
# Nome da maquina, o que vai aparecer no display do programa.
MACHINE = EPICA
#- Nome do arquivo NML
NML_FILE = emc.nml
# Level do Debug
# DEBUG = 0x00000000
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
DEBUG = 0
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# Seção das opções do display
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[DISPLAY]
# Nome da interface do programa
DISPLAY = axis
# DISPLAY = usrmot
# DISPLAY = mini
# DISPLAY = mmm
# Tempo de ciclo, em segundos, that display will sleep between polls
CYCLE_TIME = 0.200
#- Caminho do arquivo de ajuda
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
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# Task controller section
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[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
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[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = stepper.var
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# Motion control section
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[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 = 50000
#- 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
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[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
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[TRAJ]
#+ machine specific settings
AXES = 4
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z A
HOME = 0 0 0 0
LINEAR_UNITS = 1.0
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2000.0
MAX_VELOCITY = 75.0
DEFAULT_ACCELERATION = 400.0
MAX_ACCELERATION = 400.0
PROBE_INDEX = 0
PROBE_POLARITY = 1
###############################################################################
# Axes sections
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# Primeiro eixo (X)
[AXIS_0]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 75.0
MAX_ACCELERATION = 400.0
STEPGEN_MAXVEL = 76.0
STEPGEN_MAXACCEL = 401.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 20.0 0.0
OUTPUT_SCALE = 10.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 20.0
MIN_FERROR = 1.0
HOME_OFFSET = 5.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# Segundo eixo (Y)
[AXIS_1]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXVEL = 10.8
STEPGEN_MAXACCEL = 30.2
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 40.0 0.0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 5.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# terceiro eixo (Z)
[AXIS_2]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 35.0
MAX_ACCELERATION = 250.0
STEPGEN_MAXVEL = 36.0
STEPGEN_MAXACCEL = 251.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 9.657170449 0.0
OUTPUT_SCALE = 10.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 2.5
MIN_FERROR = 1.0
HOME_OFFSET = 5.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# quarto eixo (A)
[AXIS_3]
TYPE = ANGULAR
UNITS = 1.0
HOME = 0.0
MAX_VELOCITY = 2.5
MAX_ACCELERATION = 150.0
STEPGEN_MAXVEL = 4.0
STEPGEN_MAXACCEL = 151.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 200.0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -2.0
MAX_LIMIT = 2.0
FERROR = 20.0
MIN_FERROR = 10.0
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
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[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