# 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 -------------------------------------------------------------
[EMC]
# Version of this INI file
VERSION = $Revision: 1.3 $
# Name of machine, for use with display, etc.
MACHINE = EMC-DEMO-STEP-CL
# Name of NML file to use, default is emc.nml
# no longer needed NML_FILE = emc.nml
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
# DEBUG = 0x00000001
DEBUG = 0x00000000
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xemc
DISPLAY = axis
# DISPLAY = usrmot
# DISPLAY = tkemc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# 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 = 1.2
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 2
# Enable popup balloon help
BALLOON_HELP = 1
#spindle speed VCP
PYVCP = spindle.xml
# 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 = ppmc.var
# Motion control section ------------------------------------------------------
[EMCMOT]
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 nanoseconds - this is the fastest thread in the machine
#BASE_PERIOD = 50000
BASE_PERIOD = 50000
# Servo task period, in nanoseconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 1000000
# Trajectory Planner task period, in nanoseconds - will be rounded to an
# integer multiple of SERVO_PERIOD
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 = ppmc_load.hal
HALFILE = ppmc_servo.hal
HALFILE = ppmc_motion.hal
HALFILE = ppmc_io.hal
# HALFILE = pendant.hal
# POSTGUI_HALFILE = spindle.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Trajectory planner section --------------------------------------------------
[TRAJ]
AXES = 4
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
# DEFAULT_VELOCITY changes jog slider speed position at start up
DEFAULT_VELOCITY = 9.8
#MAX_VELOCITY = (speed inches per secound) 5.0 The maximum velocity for any axis or coordinated move, in machine units per second. The value shown equals 300 units per minute.
MAX_VELOCITY = 1.65
# DEFAULT_ACCELERATION = only used for robots and such.
# DEFAULT_ACCELERATION = 0
# MAX_ACCELERATION = The maximum acceleration for any axis or coordinated axis move, in machine units per second squard.
MAX_ACCELERATION = 3.93
# Axes sections ---------------------------------------------------------------
# DEADBAND use 1-1/2 times encoder count, this is the error accepted before this axis will make a correction
# AXIS_0 is X
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
# MAX_VELOCITY (Rapid speed, example: FPS) MAX_VELOCITY = Maximum velocity for this axis in machine units per second. (overrides MAX_VELOCITY in TRAJ section ?)
MAX_VELOCITY = 2
# MAX_ACCELERATION = (how fast the axis speeds up "acceleration" and slows down "deceleration") Maximum acceleration for this axis in machine units per second squared. (overrides MAX_acceleration in TRAJ section)
MAX_ACCELERATION = 5
# PID_MAX_VEL should be slightly higher than the MAX_VELOCITY for this axis. Gives the PID routine a little bit of headroom. Also changes "acceleration" and "deceleration".
PID_MAX_VEL = 10
BACKLASH = 0.0000
INPUT_SCALE = 38000
OUTPUT_SCALE = 1
MIN_LIMIT = -13.24
MAX_LIMIT = 13.7
# FOLLOWING ERROR at full speed
FERROR = .9
# FOLLOWING ERROR at zero speed
MIN_FERROR = .5
HOME_OFFSET = 11
# HOME_SEARCH_VEL = 0.0 Initial homing velocity in machine units per second. Sign denotes direction of travel. Zero value means the current location is the home position.
HOME_SEARCH_VEL = 2
HOME_LATCH_VEL = -.1
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.000095
P = 150
I = 140
D = 0.05
BIAS = 0
FF0 = 0.00051
FF1 = 2.063
FF2 = 0.02
# AXIS_1 is Y
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = .5705
MAX_ACCELERATION = 3
PID_MAX_VEL = 10
BACKLASH = 0.0000
INPUT_SCALE = -750000
OUTPUT_SCALE = 1
MIN_LIMIT = -6.90
MAX_LIMIT = 7.6
FERROR = .9
MIN_FERROR = .5
HOME_OFFSET = 5.8
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.000095
P = 150
I = 140
D = 0.05
BIAS = 0
FF0 = 0
FF1 = 2.3925
FF2 = 0
# AXIS_2 is Z
[AXIS_2]
TYPE = LINEAR
HOME = 0.00
MAX_VELOCITY = .405
MAX_ACCELERATION = 2
PID_MAX_VEL = 10
BACKLASH = 0.000
INPUT_SCALE = -1000000
OUTPUT_SCALE = 1
MIN_LIMIT = -5.15
MAX_LIMIT = .9
FERROR = .9
MIN_FERROR = .5
HOME_OFFSET = .5
HOME_SEARCH_VEL = .5
HOME_LATCH_VEL = .5
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.000095
P = 150
I = 140
D = .05
BIAS = 0
FF0 = 0
FF1 = 0
FF2 = 0
# Fourth axis
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 65
MAX_ACCELERATION = 20.0
PID_MAX_VEL = 66
BACKLASH = 0.000
INPUT_SCALE = 1111.111
OUTPUT_SCALE = 1.000
PWM_OUTPUT_SCALE = 5.0
MIN_LIMIT = -3600.0
MAX_LIMIT = 3600.0
FERROR = 1.010
MIN_FERROR = 1.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.046
P = 150
I = 100
D = 0.1
BIAS = 0
FF0 = 0
FF1 = 0
FF2 = 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 = ppmc.tbl
# section for external NML server parameters ----------------------------------
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr