Beispiel emc.ini Files
Beispiel 1: Ansteuerung 3 Steppermotoren mit freqmod
; EMC ini file emc.ini ; Motoren: 3 x Stepper ; Übersetzung: 80 Schritt pro Millimeter ; Ausgabe über: LPT1 ; Ausgabemodul: freqmod ; Datum: 08.05.2004 ; Autor: Winfried Mueller <wm AT reintechnisch DOT de> ; General section ------------------------------------------------------------- [EMC] ; Version of this INI file VERSION = $Revision: 1.15 $ ; Name of machine, for use with display, etc. MACHINE = EMC ; 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 = 0x7FFFFFFF ; Sections for display options ------------------------------------------------ [DISPLAY] ; Platform for GUI, e.g., realtime, nonrealtime PLAT = nonrealtime ; Name of display program, e.g., xemc DISPLAY = tkemc ; 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 = 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 = 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 ; Name of motion control program EMCMOT = freqmod.o ; 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 ; 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 = 0.000020 ; Address for motion IO, synchronized with motion start/end MOTION_IO_ADDRESS = 0x3BC ; Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = 1.0 ANGULAR_UNITS = 1.0 CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 50 MAX_VELOCITY = 100 DEFAULT_ACCELERATION = 50 MAX_ACCELERATION = 100 PROBE_INDEX = 0 PROBE_POLARITY = 1 ; Axes sections --------------------------------------------------------------- ; First axis [AXIS_0] TYPE = LINEAR UNITS = 1.0 HOME = 0.000 MAX_VELOCITY = 50 P = 110 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.000 FF2 = 0.000 BACKLASH = 0.000 BIAS = 0.000 MAX_ERROR = 0.000 DEADBAND = 0.015 CYCLE_TIME = 0.001000 INPUT_SCALE = -80 0 OUTPUT_SCALE = -80 0 MIN_LIMIT = -500 MAX_LIMIT = 500 MIN_OUTPUT = -100 MAX_OUTPUT = 100 FERROR = 1.000 MIN_FERROR = 0.500 HOMING_VEL = 0.1 SETUP_TIME = 1 HOLD_TIME = 2 HOME_OFFSET = 0.0 ENABLE_POLARITY = 0 MIN_LIMIT_SWITCH_POLARITY = 0 MAX_LIMIT_SWITCH_POLARITY = 0 HOME_SWITCH_POLARITY = 1 HOMING_POLARITY = 1 JOGGING_POLARITY = 1 FAULT_POLARITY = 1 ; Second axis [AXIS_1] TYPE = LINEAR UNITS = 1.0 HOME = 0.000 MAX_VELOCITY = 50 P = 110 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.000 FF2 = 0.000 BACKLASH = 0.000 BIAS = 0.000 MAX_ERROR = 0.000 DEADBAND = 0.015 CYCLE_TIME = 0.001000 INPUT_SCALE = -80 0 OUTPUT_SCALE = -80 0 MIN_LIMIT = -2000 MAX_LIMIT = 1000 MIN_OUTPUT = -100 MAX_OUTPUT = 100 FERROR = 0.5 MIN_FERROR = 0.1 HOMING_VEL = 0.1 SETUP_TIME = 1 HOLD_TIME = 2 HOME_OFFSET = 0.0 ENABLE_POLARITY = 0 MIN_LIMIT_SWITCH_POLARITY = 0 MAX_LIMIT_SWITCH_POLARITY = 0 HOME_SWITCH_POLARITY = 1 HOMING_POLARITY = 1 JOGGING_POLARITY = 1 FAULT_POLARITY = 1 LOAD_RESISTANCE = 1 ; Third axis [AXIS_2] TYPE = LINEAR UNITS = 1.0 HOME = 0.000 MAX_VELOCITY = 50 P = 110 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.000 FF2 = 0.000 BACKLASH = 0.000 BIAS = 0.000 MAX_ERROR = 0.000 DEADBAND = 0.015 CYCLE_TIME = 0.001000 INPUT_SCALE = 10 0 OUTPUT_SCALE = 80 0.000 MIN_LIMIT = -200 MAX_LIMIT = 250 MIN_OUTPUT = -100 MAX_OUTPUT = 100 FERROR = 1.000 MIN_FERROR = 0.5 HOMING_VEL = 0.1 SETUP_TIME = 1 HOLD_TIME = 2 HOME_OFFSET = 0.0 ENABLE_POLARITY = 0 MIN_LIMIT_SWITCH_POLARITY = 0 MAX_LIMIT_SWITCH_POLARITY = 0 HOME_SWITCH_POLARITY = 1 HOMING_POLARITY = 1 JOGGING_POLARITY = 1 FAULT_POLARITY = 1 ; 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 = minimillio ; cycle time, in seconds CYCLE_TIME = 0.100 ; tool table file TOOL_TABLE = emc.tbl ; address for parallel port used for auxiliary IO IO_BASE_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 ;WM default: 0 ESTOP_SENSE_POLARITY = 1 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 LUBE_WRITE_INDEX = 5 ; analog out bits SPINDLE_ON_INDEX = 3 MIN_VOLTS_PER_RPM = -0.001 MAX_VOLTS_PER_RPM = 0.001042 ; 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 SPINDLE_BRAKE_INDEX = 11 LUBE_WRITE_POLARITY = 1 ; section for external NML server parameters ---------------------------------- [EMCSERVER] ; section for emc stripchart parameters ---------------------------------- [EMCSTRIP] ; 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