; EMC controller parameters for L M Watts Furniture gantry router
; General section -------------------------------------------------------------
[EMC]
; Version of this INI file
VERSION =
$Revision: 1.2 $
; Name of machine, for use with display, etc.
MACHINE =
Generic
; Name of NML file to use, default is emc.nml
NML_FILE =
emc.nml
; Debug level, 0 means no messages. See emc/src/emcnml/emcglb.h for
others
DEBUG =
0x00000003
; DEBUG =
0x00000007
; DEBUG =
0x7FFFFFFF
; Start up defaults for EMC
RS274NGC_STARTUP_CODE=G20
; Sections for display options ------------------------------------------------
[DISPLAY]
; Platform for GUI, e.g., realtime, nonrealtime
PLAT =
nonrealtime
; Name of display program, e.g., xemc
; DISPLAY =
xemc
DISPLAY =
tkemc
; DISPLAY =
yemc
; DISPLAY =
keystick
; DISPLAY =
emcpanel
; Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =
0.200
; Path to help file
HELP_FILE =
doc/help.txt
; Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = MACHINE
; Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = COMMANDED
; Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
; Prefix to be used
PROGRAM_PREFIX = programs/
; Introductory graphic
INTRO_GRAPHIC = LESLOGO2lr.gif
INTRO_TIME = 3
; Task controller section -----------------------------------------------------
[TASK]
; Platform for task controller, e.g., realtime, nonrealtime
PLAT =
nonrealtime
; Name of task controller program, e.g., bridgeporttask
TASK =
bridgeporttask
;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 = emc.var
; Motion control section ------------------------------------------------------
[EMCMOT]
; Platform for motion, e.g., realtime, nonrealtime
PLAT =
realtime
; PLAT =
nonrealtime
; Name of motion control program
;EMCMOT =
steppermod.o
; EMCMOT =
freqmod.o
EMCMOT =
newstgmod.o
; EMCMOT =
stg2mod.o
; EMCMOT =
emcmotsim
; Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY =
100
; Base address for physical shared memory, e.g., for real-time motion.
; Note that if you change this, you may need to change OS parameters,
e.g.,
; /etc/lilo.conf
SHMEM_BASE_ADDRESS = 0x1F00000
; SHMEM_BASE_ADDRESS = 0x3F00000
; Base address of Servo To Go board
STG_BASE_ADDRESS = 0x200
; STG_BASE_ADDRESS = 0x300
; Address for parallel port used for steppers
PARPORT_IO_ADDRESS = 0x378
; 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
PERIOD =
0.000016
; Trajectory planner section --------------------------------------------------
[TRAJ]
AXES =
3
; COORDINATES = X Y
Z R P W
COORDINATES =
X Y Z
HOME =
0 0 0
LINEAR_UNITS =
0.03937007874016
ANGULAR_UNITS = 1.0
CYCLE_TIME =
0.010
DEFAULT_VELOCITY = 0.1
MAX_VELOCITY =
3
DEFAULT_ACCELERATION = 25
MAX_ACCELERATION = 30.0
PROBE_INDEX =
0
PROBE_POLARITY = 1
; Axes sections ---------------------------------------------------------------
; First axis
[AXIS_0]
TYPE =
LINEAR
UNITS =
0.03937007874016
HOME =
0.000
MAX_VELOCITY =
3
; zeigler-nichols closed loop lw 25 mar 02
; P = 900.000
; I = 22.500
; D = 5.600
P = 5.000
I = 0
D = 0
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.000
CYCLE_TIME =
0.0005000
INPUT_SCALE =
10000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT =
-26.5
MAX_LIMIT =
26.27
MIN_OUTPUT =
-10
MAX_OUTPUT =
10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL =
1
HOME_OFFSET =
26.27
ENABLE_POLARITY =
1
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY =
1
HOMING_POLARITY =
0
JOGGING_POLARITY =
1
FAULT_POLARITY =
1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS =
OZ_IN
ARMATURE_RESISTANCE =
1.10
ARMATURE_INDUCTANCE =
0.0120
BACK_EMF_CONSTANT =
0.0254
ROTOR_INERTIA =
0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET =
0
REVS_PER_UNIT =
10
; Parameters for generic amplifier
AMPLIFIER_GAIN =
1
MAX_OUTPUT_CURRENT =
10
LOAD_RESISTANCE =
1
; parameters for generic encoder
COUNTS_PER_REV =
4096
; Second axis
[AXIS_1]
TYPE =
LINEAR
UNITS =
0.03937007874016
HOME =
0.000
MAX_VELOCITY =
3
; zeigler-nichols closed loop lw 25 mar 02
; P = 660.000
; I = 10.900
; D = 2.200
P = 5.000
I = 0
D = 0
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.000
CYCLE_TIME =
0.0005000
INPUT_SCALE =
10000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT =
-100
MAX_LIMIT =
25.05
MIN_OUTPUT =
-25.25
MAX_OUTPUT =
10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL =
1
HOME_OFFSET =
25.05
ENABLE_POLARITY =
1
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY =
1
HOMING_POLARITY =
0
JOGGING_POLARITY =
1
FAULT_POLARITY =
1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS =
OZ_IN
ARMATURE_RESISTANCE =
1.10
ARMATURE_INDUCTANCE =
0.0120
BACK_EMF_CONSTANT =
0.0254
ROTOR_INERTIA =
0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET =
0
REVS_PER_UNIT =
10
; Parameters for generic amplifier
AMPLIFIER_GAIN =
1
MAX_OUTPUT_CURRENT =
10
LOAD_RESISTANCE =
1
; parameters for generic encoder
COUNTS_PER_REV =
4096
; Third axis
[AXIS_2]
TYPE =
LINEAR
UNITS =
0.03937007874016
HOME =
0.000
MAX_VELOCITY =
2
; zeigler-nichols closed loop lw 25 mar 02
; P =1080.000
; I = 13.500
; D = 2.700
P = 5.000
I = 0
D = 0
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.000
CYCLE_TIME =
0.0005000
INPUT_SCALE =
20000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT =
-10.0
MAX_LIMIT =
10.0
MIN_OUTPUT =
-6.75
MAX_OUTPUT =
6.55
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL =
1
HOME_OFFSET =
6.55
ENABLE_POLARITY =
1
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY =
1
HOMING_POLARITY =
0
JOGGING_POLARITY =
1
FAULT_POLARITY =
1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS =
OZ_IN
ARMATURE_RESISTANCE =
1.10
ARMATURE_INDUCTANCE =
0.0120
BACK_EMF_CONSTANT =
0.0254
ROTOR_INERTIA =
0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET =
0
REVS_PER_UNIT =
10
; Parameters for generic amplifier
AMPLIFIER_GAIN =
1
MAX_OUTPUT_CURRENT =
10
LOAD_RESISTANCE =
1
; parameters for generic encoder
COUNTS_PER_REV =
4096
; section for main IO controller parameters -----------------------------------
[EMCIO]
; Platform for IO controller, e.g., realtime, nonrealtime
PLAT =
nonrealtime
; Name of IO controller program, e.g., bridgeportio
; EMCIO =
bridgeportio
EMCIO =
minimillio
; EMCIO =
simio
; cycle time, in seconds
CYCLE_TIME = 0.100
; tool table file
TOOL_TABLE = emc.tbl
; address for parallel port used for auxiliary IO
PARPORT_IO_ADDRESS = 0x278
; wait times in seconds for spindle brake, release
SPINDLE_OFF_WAIT
= 1.0
SPINDLE_ON_WAIT
= 1.5
; external digital inputs, outputs are always 0 for 0V, 1 for 5/24V
; digital in bits
ESTOP_SENSE_INDEX =
1
LUBE_SENSE_INDEX
= 2
; digital in polarity, 0 is inverted, 1 is normal
; controller compares with polarity, equal means on, not equal means
off
ESTOP_SENSE_POLARITY =
0
LUBE_SENSE_POLARITY =
1
; digital out bits
SPINDLE_FORWARD_INDEX =
1
SPINDLE_REVERSE_INDEX =
0
MIST_COOLANT_INDEX =
6
FLOOD_COOLANT_INDEX =
7
SPINDLE_DECREASE_INDEX =
8
SPINDLE_INCREASE_INDEX =
9
ESTOP_WRITE_INDEX =
10
SPINDLE_BRAKE_INDEX =
11
; analog out bits
SPINDLE_ON_INDEX = 3
; digital out polarity, 0 is inverted, 1 is normal
; controller writes the polarity to turn on, opposite of polarity to
turn off
SPINDLE_FORWARD_POLARITY = 0
SPINDLE_REVERSE_POLARITY = 0
MIST_COOLANT_POLARITY =
0
FLOOD_COOLANT_POLARITY =
0
SPINDLE_DECREASE_POLARITY = 1
SPINDLE_INCREASE_POLARITY = 1
ESTOP_WRITE_POLARITY =
1
SPINDLE_BRAKE_POLARITY =
0
SPINDLE_ENABLE_POLARITY = 1
; section for external NML server parameters ----------------------------------
[EMCSERVER]
; Name of NML server, e.g., emcsvr; if not found then none will run
; EMCSERVER =
emcsvr
; section for emc stripchart parameters ----------------------------------
[EMCSTRIP]
; Name of strip chart display program e.g. emcstripchart; if not
found then none will run
; EMCSTRIP =
emcstripchart
; OPTIONS for emcstripchart ussually -f something.conf; This file says
which
; variables to plot, colors etc. -u changes the update rate.
OPTIONS = -f emcstrip.conf.ferror