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# EMC controller parameters for a simulated machine.
# 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 = $Revision$
MACHINE = gmoccapy 4 axis
DEBUG = 0
# for details see nc_files/subroutines/maco_instructions.txt
[MACROS]
MACRO = i_am_lost
MACRO = halo_world
MACRO = jog_around
MACRO = increment xinc yinc
MACRO = go_to_position X-pos Y-pos Z-pos
# Sections for display options ------------------------------------------------
[DISPLAY]
DISPLAY = gmoccapy
# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = .5
# Max and default jog speeds in units per second
MAX_LINEAR_VELOCITY = 166
DEFAULT_LINEAR_VELOCITY = 5
MAX_ANGULAR_VELOCITY = 234
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
# list of selectable jog increments
INCREMENTS = 1mm, 0.1mm, 0.01mm, 0.001mm, 1.2345in
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
# Task controller section -----------------------------------------------------
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
# Part program interpreter section --------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = macros
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
# Hardware Abstraction Layer section --------------------------------------------------
[HAL]
HALFILE = core_sim4.hal
HALFILE = spindle_sim.hal
HALFILE = simulated_home.hal
# Single file that is executed after the GUI has started.
POSTGUI_HALFILE = gmoccapy_postgui.hal
HALUI = halui
# Trajectory planner section --------------------------------------------------
[TRAJ]
AXES = 6
COORDINATES = X Y Z C
HOME = 0 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 9.0
MAX_VELOCITY = 234
POSITION_FILE = position.txt
# First axis = X
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -400.0
MAX_LIMIT = 400.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Second axis = Y
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -400.0
MAX_LIMIT = 400.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME = 10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1
# Third axis = Z
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 166
MAX_ACCELERATION = 1500.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -400.0
MAX_LIMIT = 0.001
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME = -10
HOME_SEARCH_VEL = 200.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
# Fourth axis = A
# Fifth axis = B
# Sixt axis = C
[AXIS_5]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
BACKLASH = 0.000
INPUT_SCALE = 40
OUTPUT_SCALE = 1.000
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# section for main IO controller parameters -----------------------------------
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = tool.tbl
TOOL_CHANGE_POSITION = 100 100 -10
TOOL_CHANGE_QUILL_UP = 1
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