# 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: 1.9.4.3 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-HAL-PLOTER-MM
#- Name of NML file to use, default is emc.nml
NML_FILE = emc.nml
PROGRAM_FILTER = /root/Projects/dxf/src/dxf
#PROGRAM_FILTER = /root/Projects/PLT/src/plt
#PROGRAM_FILTER = python /usr/EMCconfig/axis_filtr_plt.py
PROGRAM_EXTENSION = *.plt pliki PLT
PROGRAM_EXTENSION = *.PLT pliki PLT
PROGRAM_EXTENSION = *.hpg pliki PLT
PROGRAM_EXTENSION = *.HPG pliki PLT
PROGRAM_EXTENSION = *.dxf pliki DXF
PROGRAM_EXTENSION = *.DXF pliki DXF
#+ 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 = 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 = /WYMIANA
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 2
#co ile odswiezanie ekranu [ms]
PREVIEW_REFRESH_TIME = 20
# jednostka wyswietlania
POSITION_UNIT = mm
# krok paska predkosci %
FEED_OVERRIDE_STEP = 5.0
# krok predkosci recznej w mm/min
JOGSPEED_STEP = 0.005
# predkosc osi w synchronizacji pol [mm/min]
SYNC_SPEED = 250
# odleglosc pokonywana w czasie synchronizacji [mm]
SYNC_DIST = 2
###############################################################################
# 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 = ploter.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 = 37000
#- 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
###############################################################################
[HAL]
HALUI=halui
# 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 = ploter_core.hal
HALFILE = ploter_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 A B C
COORDINATES = X Y Z
HOME = 0 0 72
#LINEAR_UNITS = mm
LINEAR_UNITS = 1.0
#ANGULAR_UNITS = degree
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 55
MAX_VELOCITY = 55
DEFAULT_ACCELERATION = 300.0
MAX_ACCELERATION = 300.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[AXIS_0]
UNITS = 1.0
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 55
# 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 = 260.0
STEPGEN_MAXVEL = 65.00
STEPGEN_MAXACCEL = 310.0
BACKLASH = 0.000
INPUT_SCALE = 100
OUTPUT_SCALE = 1.000
MIN_LIMIT = -1.5
MAX_LIMIT = 1125.0
FERROR = 1.770
MIN_FERROR = 0.354
HOME_OFFSET = 8.0
HOME_SEARCH_VEL = -45.0
HOME_LATCH_VEL = 5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
#+ Second axis
[AXIS_1]
UNITS = 1.0
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 55.00
MAX_ACCELERATION = 260.0
STEPGEN_MAXVEL = 65.00
STEPGEN_MAXACCEL = 310.0
BACKLASH = 0.000
INPUT_SCALE = 100.01
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.50
MAX_LIMIT = 1546.0
FERROR = 1.770
MIN_FERROR = 0.354
HOME_OFFSET = 3.0
HOME_SEARCH_VEL = -45.0
HOME_LATCH_VEL = 5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
#+ Third axis
[AXIS_2]
UNITS = 1.0
TYPE = LINEAR
HOME = 72.0
MAX_VELOCITY = 30.00
MAX_ACCELERATION = 300.0
STEPGEN_MAXVEL = 40.00
STEPGEN_MAXACCEL = 350.0
BACKLASH = 0.000
INPUT_SCALE = 100
OUTPUT_SCALE = 1.000
MIN_LIMIT = -2.0
MAX_LIMIT = 72.3
FERROR = 1.770
MIN_FERROR = 0.354
HOME_OFFSET = 65.0
HOME_SEARCH_VEL = 30.0
HOME_LATCH_VEL = 5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
###############################################################################
# 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 = ploter.tbl