mesa_2019/mesa_2019.ini

# This file was created with the 7i96 Wizard on Apr 19 2019 14:51:58
# Changes to most things are ok and will be read by the wizard

[EMC]
VERSION = 1.1
MACHINE = mesa_2019
DEBUG = 0x00000000

[HOSTMOT2]
DRIVER = hm2_eth
IPADDRESS = "10.10.10.10"
BOARD = 7i96
STEPGENS = 4
ENCODERS = 1
SSERIAL_PORT = 1

[DISPLAY]
DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = COMMANDED
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""


PREFERENCE_FILE_PATH = gmoccapy_preferences
DEFAULT_LINEAR_VELOCITY = 166.666
MAX_LINEAR_VELOCITY = 166.666
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
PROGRAM_PREFIX = ../../nc_files/



EMBED_TAB_NAME=Probe Screen 
EMBED_TAB_LOCATION = ntb_preview
EMBED_TAB_COMMAND = gladevcp  -x {XID} -u python/probe_screen.py probe_icons/probe_screen.glade  	

EMBED_TAB_NAME = Camera
EMBED_TAB_LOCATION = ntb_preview
EMBED_TAB_COMMAND = mplayer -quiet -msglevel all=-1 -wid {XID} tv://0 -vf  rectangle=-1:2:-1:240,rectangle=2:-1:320:-1

EMBED_TAB_NAME = DRO
EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = gladevcp -x {XID} dro.glade

EMBED_TAB_NAME = Second user tab
EMBED_TAB_LOCATION = ntb_preview
EMBED_TAB_COMMAND = gladevcp -x {XID} vcp_box.glade


[KINS]
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
JOINTS = 4

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[RS274NGC]
PARAMETER_FILE = mesa_2019.var
SUBROUTINE_PATH = macros

# Enables the reading of INI and HAL values from gcode
FEATURES=12

# is the sub, with is called when a error during tool change happens
ON_ABORT_COMMAND=O <on_abort> call

# The remap code
REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog

[TOOLSENSOR]
X = 100
Y = 10
Z = -20
MAXPROBE =  -20

[CHANGE_POSITION]
X = 150
Y = 10
Z = -2

[PYTHON]
# The path to start a search for user modules
PATH_PREPEND = python
# The start point for all.
TOPLEVEL = python/toplevel.py

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XYYZ
LINEAR_UNITS = metric
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 45

[HAL]
#TWOPASS = ON 
HALFILE = mesa_2019.hal
HALFILE = io.hal
HALFILE = custom.hal
#HALFILE = postgui.hal
HALUI = halui
POSTGUI_HALFILE = postgui.hal

HALFILE = LIB:xhc-hb04.tcl

[HALUI]

[XHC_HB04_CONFIG]
# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
layout = 2
# coords: specify upto 4 letters from set {x y z a b c u v w}
# coords: switch labels are xyza but any unique 4 letters
#         from the set {xyxabcuvw) can be used (if the coord exists)
coords = x y z
# lowpass settings:
# coef: slows rate of change of output,  range: 0 < coef < 1
coefs = 1 1 1 1
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 -1 1 1
# jogmode normal(default) or vnormal
jogmode = normal
# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
# sequence 3: 0.001,0.010,0.100
# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
# sequence 5: 0.001,0.010,0.050,0.100,1.000
sequence = 1
# require_pendant = yes|no: create xhc-hb04 hal pins when pendant not
#                           connected at startup
require_pendant = no
# inch_or_mm = in | mm
inch_or_mm = mm
# mpg_accels: provision for reduced acceleration for manual mode jogging
mpg_accels = 1 2 20 600

[APPLICATIONS]
APP = monitor-xhc-hb04

[XHC_HB04_BUTTONS]
# use button names according to layout file LIB:xhc-hb04-layout{n}.cfg
# note: "start-pause" is connected for standard behavior
#        controlling halui.pause/halui.resume/halui.run
# these are examples, edit as required:

goto-zero   = halui.mdi-command-00
# synthesized per-axis buttons for goto-zero button:
goto-zero-x = ""
goto-zero-y = ""
goto-zero-z = ""
goto-zero-a = ""

start-pause = std_start_pause
rewind      = halui.program.step
# probe-input for simulating a probe:
#probe-z     = motion.probe-input
macro-3     = halui.mdi-command-03

half        = halui.spindle.stop
# synthesized per-axis buttons for half button:
half-x      = ""
half-y      = ""
half-z      = ""
half-a      = ""

zero        = ""
# synthesized per-axis buttons for zero button:
zero-x      = halui.mdi-command-12
zero-y      = halui.mdi-command-13
zero-z      = halui.mdi-command-14
zero-a      = halui.mdi-command-15

safe-z      = halui.mdi-command-10
# in this sim, home-all only works first time, hold down till finished:
home        = halui.home-all
macro-1     = halui.mdi-command-01
macro-2     = halui.mdi-command-02
spindle     = halui.spindle.start
step        = xhc-hb04.stepsize-up
mode        = ""
macro-6     = halui.mdi-command-06
macro-7     = halui.mdi-command-07
stop        = halui.program.stop
reset       = halui.estop.activate

[HALUI]
# these are examples, edit as required:
# a halui hal pin is created for each MDI_COMMAND below
# halui.mdi-command-00, halui.mdi-command-01,... etc
MDI_COMMAND=G0 X0 Y0 Z0
MDI_COMMAND=(debug, example: mdi-01)
MDI_COMMAND=(debug, example: mdi-02)
#03 M110: clears notifications
MDI_COMMAND=M110
MDI_COMMAND=(debug, example: mdi-04)
MDI_COMMAND=(debug, example: mdi-05)
MDI_COMMAND=(debug, example: mdi-06)
#07 M101: example print to stdout
MDI_COMMAND=M101
MDI_COMMAND=(debug, example: mdi-08)
MDI_COMMAND=(debug, example: mdi-09)
MDI_COMMAND=(debug, example: mdi-10)
MDI_COMMAND=(debug, example: mdi-11)
#12
MDI_COMMAND= G10 L20 P0 X0
#13
MDI_COMMAND= G10 L20 P0 Y0
#14
MDI_COMMAND= G10 L20 P0 Z0
#15
MDI_COMMAND= G10 L20 P0 C0



[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT = 541
MAX_VELOCITY = 30
MAX_ACCELERATION = 45

[AXIS_Y]
MIN_LIMIT = 0
MAX_LIMIT = 581
MAX_VELOCITY = 55
MAX_ACCELERATION = 80

[AXIS_Z]
MIN_LIMIT = -40
MAX_LIMIT = 40
MAX_VELOCITY = 20
MAX_ACCELERATION = 30

[JOINT_0]
AXIS = X
MIN_LIMIT = 0
MAX_LIMIT = 541
MAX_VELOCITY = 30
MAX_ACCELERATION = 45
TYPE = LINEAR
SCALE = 500
STEPGEN_MAX_VEL = 36.0
STEPGEN_MAX_ACC = 54.0
FERROR = 0.0051
MIN_FERROR = 0.0025
DIRSETUP = 100000
DIRHOLD = 100000
STEPLEN = 22000
STEPSPACE = 22000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 541
HOME_OFFSET = 540
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = -2.5
HOME_SEQUENCE = 1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_1]
AXIS = Y
MIN_LIMIT = 0
MAX_LIMIT = 581
MAX_VELOCITY = 55
MAX_ACCELERATION = 80
TYPE = LINEAR
SCALE = 50
STEPGEN_MAX_VEL = 66.0
STEPGEN_MAX_ACC = 96.0
FERROR = 0.0051
MIN_FERROR = 0.0025
DIRSETUP = 100000
DIRHOLD = 100000
STEPLEN = 22000
STEPSPACE = 22000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 580
HOME_OFFSET = 579
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = 2
HOME_SEQUENCE = -2
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_2]
AXIS = Y
MIN_LIMIT = 0
MAX_LIMIT = 581
MAX_VELOCITY = 55
MAX_ACCELERATION = 80
TYPE = LINEAR
SCALE = 50
STEPGEN_MAX_VEL = 66.0
STEPGEN_MAX_ACC = 96.0
FERROR = 0.0051
MIN_FERROR = 0.0025
DIRSETUP = 100000
DIRHOLD = 100000
STEPLEN = 22000
STEPSPACE = 22000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 580
HOME_OFFSET = 579
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = 2
HOME_SEQUENCE = -2
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_3]
AXIS = Z
MIN_LIMIT = -40
MAX_LIMIT = 42
MAX_VELOCITY = 20
MAX_ACCELERATION = 30
TYPE = LINEAR
SCALE = 50
STEPGEN_MAX_VEL = 24.0
STEPGEN_MAX_ACC = 36.0
FERROR = 0.0051
MIN_FERROR = 0.0025
DIRSETUP = 100000
DIRHOLD = 100000
STEPLEN = 22000
STEPSPACE = 22000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 11
HOME_OFFSET = 0
HOME_SEARCH_VEL = -15
HOME_LATCH_VEL = -1
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False