Uni-fraes-h3_Estopv2.ini

# 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-H3 

# 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

# 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 =                    relay_spindleV2.hal
HALFILE =                    relay_floodV2.hal
HALFILE =                    limit_probe.hal
HALFILE =                    buzzer.hal
HALFILE =                    pinconfig_bbb_standard_Unimat_EstopV2.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 =                  3
COORDINATES =           X Y Z
HOME =                  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
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 =                     -50.0
MAX_LIMIT =                     50.0
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 =                     -50.0
MAX_LIMIT =                     50.0
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 =                         -17.77777777777777777777777777777777777778
MIN_LIMIT =                     -10000
MAX_LIMIT =                     10000
FERROR =                        50.000
MIN_FERROR =                    10.000
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 =     2.0

# Prefix to be used
PROGRAM_PREFIX =        ~/nc_files

OPEN_FILE = ""

# Introductory graphic
INTRO_GRAPHIC = images/Uni-Fraes-h3.gif
INTRO_TIME = 7