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Copy pathUni-fraes-4v2.ini
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Uni-fraes-4v2.ini
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# 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.
# General section -------------------------------------------------------------
[PRUCONF]
DRIVER=hal_pru_generic
CONFIG=pru=1 num_stepgens=6 num_pwmgens=1
PRUBIN=rt-preempt/pru_generic.bin
[EMC]
# Version of this INI file
VERSION = 1.0
# Name of machine, for use with display, etc.
MACHINE = UNI-FRAES-4
# 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 = 0x00000003
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
DEBUG = 0
# 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 = stepper.var
# Motion control section ------------------------------------------------------
[EMCMOT]
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 seconds - this is the fastest thread in the machine
BASE_PERIOD = 50000
# Servo task period, in seconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 1000000
# Trajectory Planner task period, in seconds - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
# 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 = base_bbb_2018.hal
HALFILE = axis_xy.hal
HALFILE = axis_z.hal
HALFILE = axis_a.hal
HALFILE = relay_spindleV2.hal
HALFILE = relay_floodV2.hal
HALFILE = limit_probe.hal
HALFILE = buzzer.hal
HALFILE = pinconfig_bbb_standard_UnimatV2.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Section Filter
[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python
# Trajectory planner section --------------------------------------------------
[TRAJ]
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 20
AXES = 4
COORDINATES = X Y Z A
HOME = 0 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2
MAX_VELOCITY = 50
DEFAULT_ACCELERATION = 20.0
MAX_ACCELERATION = 20.0
# Axes sections ---------------------------------------------------------------
# First axis
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = 1600
MIN_LIMIT = -145.0
MAX_LIMIT = 145.0
FERROR = 0.500
MIN_FERROR = 0.500
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
# Second axis
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = -3200
MIN_LIMIT = -52.0
MAX_LIMIT = 52.0
FERROR = 0.500
MIN_FERROR = 0.500
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
# Third axis
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = -3200
MIN_LIMIT = -52.0
MAX_LIMIT = 52.0
FERROR = 0.500
MIN_FERROR = 0.500
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
# Four axis
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
STEPGEN_MAX_VEL = 52.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = -17.7777777777777777777777777777778
MIN_LIMIT = -100000000000000
MAX_LIMIT = 100000000000000
FERROR = 0.500
MIN_FERROR = 0.500
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
# 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 = milling_stepper.tbl
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program is specified by run.py
EDITOR = leafpad
# 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 = 10.0
# Prefix to be used
PROGRAM_PREFIX = ~/nc_files
OPEN_FILE = /home/machinekit/nc_files/examples/Uni-Fraes-4/exerc3-BuildingBrick_Uni-fraes4-1.ngc
# Introductory graphic
INTRO_GRAPHIC = images/Uni-Fraes-4.gif
INTRO_TIME = 7