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# EMC controller parameters for a plasma 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 = $Revision$
#+ Name of machine, for use with display, etc.
MACHINE = LinuxCNC-STEPPER-GANTRY
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
#DEBUG = 0x00000007
#DEBUG = 0x7FFFFFFF
# Enable Adaptive Feedrate for THC
# Used to pause execution of gcode for setup,
# pierce delay and manual verification of pierce height
# Set spindle speed to 1
# Set up to use metric mm
RS274NGC_STARTUP_CODE = M52 P1 G21 S1
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#+ Name of display program, e.g., xemc
DISPLAY = axis
#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
#HELP_FILE = tklinucnc.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 = ../../nc_files/
#- Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 3
#Increments for the JOB Section
INCREMENTS = 1000 10 1 0.1 0.01
# Editor to be used with Axis
EDITOR = gedit
###############################################################################
# Task controller section
###############################################################################
[TASK]
# Name of task controller program, e.g., milltask
TASK = milltask
#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.100
###############################################################################
# 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
#- 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 = 15000
#BASE_PERIOD = 18000
#BASE_PERIOD = 20000
BASE_PERIOD = 35000
#BASE_PERIOD = 50000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD = 100000
###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#
# HALUI to interact with NML
# Run before any other HALFILE
HALUI = halui
# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE = kinematics.hal
HALFILE = stepper.hal
HALFILE = stepper_parport.hal
HALFILE = estop.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 = 4
COORDINATES = X Y Z A
LINEAR_UNITS = 1.0
ANGULAR_UNITS = 1.0
DEFAULT_VELOCITY = 100
MAX_VELOCITY = 180
DEFAULT_ACCELERATION = 600
MAX_ACCELERATION = 2400
###############################################################################
# Axes sections
###############################################################################
#+ First axis (X)
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 170
MAX_ACCELERATION = 2400
STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
SCALE = 150.333
MIN_LIMIT = -1
MAX_LIMIT = 2055
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#+ Second axis (Y)
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 170
MAX_ACCELERATION = 2400
STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
SCALE = 150.333
MIN_LIMIT = -1
MAX_LIMIT = 6050.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#+ Third axis (Z)
[AXIS_2]
TYPE = LINEAR
HOME = 55.000
MAX_VELOCITY = 8
MAX_ACCELERATION = 600
STEPGEN_MAXACCEL = 650
#STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
SCALE = 200
MIN_LIMIT = -1
MAX_LIMIT = 56.0
FERROR = 1.270
#MIN_FERROR = 0.254
# This is done so Z axis can be operated with a HAL closed loop (plasma THC)
MIN_FERROR = 500
HOME_OFFSET = 55.0
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = -2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#+ Second axis (A)
[AXIS_3]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 170
MAX_ACCELERATION = 2400
STEPGEN_MAXACCEL = 2960
BACKLASH = 0.000
SCALE = 150.333
OUTPUT_SCALE = 1.000
MIN_LIMIT = -1
MAX_LIMIT = 6050.0
FERROR = 1.270
MIN_FERROR = 0.254
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 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
# A Tooltable file
TOOL_TABLE = stepper.tbl
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