# 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: 1.4.4.2 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-PLASMA-THC
#- 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 = 0
# DEBUG = 0x00000007
#DEBUG = 0x7FFFFFFF
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ Name of display program, e.g., xemc
#DISPLAY = axis
# 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 = 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 = 1.4
#- Prefix to be used
PROGRAM_PREFIX = /usr/share/emc/ncfiles/
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
#Increments for the JOB Section
INCREMENTS 1000 10 1 0.1 0.01
###############################################################################
# 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
#CYCLE_TIME = 0.001
###############################################################################
# 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 nanosecs - this is the fastest thread in the machine
#BASE_PERIOD = 10000
BASE_PERIOD = 20000
#BASE_PERIOD = 50000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
#SERVO_PERIOD = 10000
SERVO_PERIOD = 100000
#SERVO_PERIOD = 100000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
# integer multiple of SERVO_PERIOD
#TRAJ_PERIOD = 100000
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 = stepper_xyza.hal
HALFILE = standard_pinout.hal
#HALFILE = sim_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 = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.00001
#CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100
MAX_VELOCITY = 150
DEFAULT_ACCELERATION = 500
MAX_ACCELERATION = 2400
PROBE_INDEX = 0
PROBE_POLARITY = 1
###############################################################################
# Axes sections
###############################################################################
#+ First axis (X)
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 150
MAX_ACCELERATION = 2400
STEPGEN_MAXVEL = 160
STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
INPUT_SCALE = 150.333 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -5.0
MAX_LIMIT = 2055
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 10.0
HOME_SEARCH_VEL = 50.0
HOME_LATCH_VEL = -5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#+ Second axis (Y)
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 150
MAX_ACCELERATION = 2400
STEPGEN_MAXVEL = 160
STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
INPUT_SCALE = 150.333 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -5.0
MAX_LIMIT = 6050.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 10.0
HOME_SEARCH_VEL = 50.0
HOME_LATCH_VEL = -5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#HOME_IS_SHARED = 1
#+ Third axis (Z)
[AXIS_2]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 20
MAX_ACCELERATION = 150
STEPGEN_MAXVEL = 24
STEPGEN_MAXACCEL = 180
BACKLASH = 0.000
INPUT_SCALE = 200
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -5.0
MAX_LIMIT = 100.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 5.0
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = -1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#+ Second axis (A)
[AXIS_3]
TYPE = LINEAR
HOME = 1.000
MAX_VELOCITY = 150
MAX_ACCELERATION = 2400
STEPGEN_MAXVEL = 160
STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
INPUT_SCALE = 150.333 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -5.0
MAX_LIMIT = 1000.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 10.0
HOME_SEARCH_VEL = 50.0
HOME_LATCH_VEL = -5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#HOME_IS_SHARED = 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 = stepper.tbl