; EMC controller parameters for UnivPWM controller. Make these what you need ; for your system. ; General section ------------------------------------------------------------- [EMC] ; Version of this INI file VERSION = $Revision: 1.2 $ ; Name of machine, for use with display, etc. MACHINE = PWM MiniMill ; 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 ; 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 = 0.100 ; 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 = programs/ ; Introductory graphic INTRO_GRAPHIC = emc.gif INTRO_TIME = 5 ; 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 ; RS274NGC file delimiter requirements ON/OFF ; 1 - File must start and end with '%' marks, or end with M02/M30 ; 0 - File not required to start or end with anything in particular RS274NGC_FILE_DELIMITERS = 0 ; Read full text of comments ON/OFF ; 1 - Comments will be parsed into the comment[] ; 0 - Comments will not be parsed (for faster block execution) READ_FULL_COMMENT = 1 ;Keep current coordinate system in effect after M02/M30 ; 1 - Retains current coordinate system ; 0 - Reverts to default coordinate system (set below) KEEP_CURRENT_COORDINATE_SYSTEM_AFTER_M02 = 0 ; Default coordinate sytem after M02/M30 program stop. ; Valid values are 1-9, with 1 being G54, 9 being G59.3 M02_COORDINATE_SYSTEM = 1 ; Keep G92 axis offsets in effect after M02/M30 ; 1 - Retains G92 axis offsets in effect ; 0 - Turns off G92 axis offsets, as in G92_2 KEEP_G92_OFFSETS_AFTER_M02 = 0 ; Keep G92 axis offsets in effect after Work Coordinate System change ; (G54-G59.3) ; 1 - Retains G92 axis offsets in effect ; 0 - Turns off G92 axis offsets, as in G92_2 KEEP_G92_OFFSETS_AFTER_WCS_CHANGE = 0 ; G83/G83.1 rapid down, distance above bottom of hole in inches G83_RAPID_DELTA = 0.010 ; G83.1 cycle, incremental retract distance, (inch units). G83_1_DELTA = 0.030 ; Tolerance setting for logical equality TOLERANCE_EQUAL = 0.0001 ; Tolerance setting (inch) for G02/G03 arc endpoints TOLERANCE_INCH = 0.0005 ; Tolerance setting (mm) for G02/G03 arc endpoints TOLERANCE_MM = 0.005 ; Tolerance (in radians) for cutter comp concave (inside) corners TOLERANCE_CONCAVE_CORNER = 0.05 ; 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 = stgmod.o ; EMCMOT = stg2mod.o ; EMCMOT = emcmotsim ; EMCMOT = univstepmod.o EMCMOT = univpwmmod ; 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 IO_BASE_ADDRESS = 0x378 ; IO_BASE_ADDRESS = 0x300 ; Address for parallel port used for steppers ; IO_BASE_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 ; Don't use this if steppermod is being loaded. ; PERIOD = 0.000016 ; Address for motion IO, synchronized with motion start/end MOTION_IO_ADDRESS = 0x378 ; 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 = 0.001 DEFAULT_VELOCITY = 0.5 MAX_VELOCITY = 1.5 DEFAULT_ACCELERATION = 5.0 MAX_ACCELERATION = 5.0 PROBE_INDEX = 0 PROBE_POLARITY = 1 ; Axes sections --------------------------------------------------------------- ; First axis [AXIS_0] TYPE = LINEAR UNITS = 0.03937007874016 HOME = 0.000 MAX_VELOCITY = 1.5 P = 6000.000 I = 5.000 D = 25.000 FF0 = 0.000 FF1 = 2.000 FF2 = 0.250 BACKLASH = 0.000 BIAS = 0.000 MAX_ERROR = 0.000 DEADBAND = 0.0001 CYCLE_TIME = 0.001000 INPUT_SCALE = -256000 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 MIN_OUTPUT = -100 MAX_OUTPUT = 100 FERROR = 0.001 MIN_FERROR = 0.505 HOMING_VEL = 0.1 HOME_OFFSET = 0.0 ENABLE_POLARITY = 1 SETUP_TIME = 50000 MIN_LIMIT_SWITCH_POLARITY = 1 MAX_LIMIT_SWITCH_POLARITY = 1 HOME_SWITCH_POLARITY = 1 HOMING_POLARITY = 1 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 = 1.5 P = 6000.000 I = 5.000 D = 75.000 FF0 = 0.000 FF1 = 2.000 FF2 = 0.1 BACKLASH = 0.000 BIAS = 0.000 MAX_ERROR = 0.000 DEADBAND = 0.0001 CYCLE_TIME = 0.001000 INPUT_SCALE = -256000 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 MIN_OUTPUT = -100 MAX_OUTPUT = 100 FERROR = 0.075 MIN_FERROR = 10.0 HOMING_VEL = 0.1 HOME_OFFSET = 0.0 ENABLE_POLARITY = 1 SETUP_TIME = 50000 MIN_LIMIT_SWITCH_POLARITY = 1 MAX_LIMIT_SWITCH_POLARITY = 1 HOME_SWITCH_POLARITY = 1 HOMING_POLARITY = 1 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 = 2.0 P = 2000.000 I = 5.000 D = 55.000 FF0 = 0.000 FF1 = 2.000 FF2 = 0.100 BACKLASH = 0.000 BIAS = 0.000 MAX_ERROR = 0.000 DEADBAND = 0.0001 CYCLE_TIME = 0.001000 INPUT_SCALE = -128000 0 OUTPUT_SCALE = 1.000 0.000 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 MIN_OUTPUT = -100 MAX_OUTPUT = 100 FERROR = 0.075 MIN_FERROR = 10.0 HOMING_VEL = 0.1 HOME_OFFSET = 0.0 ENABLE_POLARITY = 1 SETUP_TIME = 50000 MIN_LIMIT_SWITCH_POLARITY = 1 MAX_LIMIT_SWITCH_POLARITY = 1 HOME_SWITCH_POLARITY = 1 HOMING_POLARITY = 1 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 ;EMCIO = ppmcio EMCIO = ppmcbridgeportio ; cycle time, in seconds CYCLE_TIME = 0.100 ; tool table file TOOL_TABLE = emc.tbl ; address for parallel port used for auxiliary IO (not used by univ. step) IO_BASE_ADDRESS = 0x378 ; wait times in seconds for spindle brake, release SPINDLE_OFF_WAIT = 1.0 SPINDLE_ON_WAIT = 0.5 ; external digital inputs, outputs are always 0 for 0V, 1 for 5/24V ; digital in bits ESTOP_SENSE_INDEX = 14 LUBE_SENSE_INDEX = 13 ; 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 = 0 ; digital out bits SPINDLE_FORWARD_INDEX = 0 SPINDLE_REVERSE_INDEX = 1 MIST_COOLANT_INDEX = 3 FLOOD_COOLANT_INDEX = 4 SPINDLE_DECREASE_INDEX = 5 SPINDLE_INCREASE_INDEX = 6 ESTOP_WRITE_INDEX = 7 SPINDLE_BRAKE_INDEX = 2 ; analog out bits SPINDLE_ON_INDEX = 3 MAX_VOLTS_PER_RPM = 0.001 MIN_VOLTS_PER_RPM = -0.001 ; 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 = 1 SPINDLE_REVERSE_POLARITY = 1 MIST_COOLANT_POLARITY = 1 FLOOD_COOLANT_POLARITY = 1 SPINDLE_DECREASE_POLARITY = 1 SPINDLE_INCREASE_POLARITY = 1 ESTOP_WRITE_POLARITY = 0 SPINDLE_BRAKE_POLARITY = 1 SPINDLE_ENABLE_POLARITY = 0 ; 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 ;test