ini_config.lyx

CNC 的开放码,EMC2 V2.2.8版

MAX_ANGULAR_VELOCITY\SpecialChar ~
=\SpecialChar ~
1.0 The maximum velocity for angular jogs, in machine
 units per second.
 
\layout Description

INCREMENTS = 1 mm, .5 in, ...
 Defines the increments available for incremental jogs.
 The INCREMENTS can be used to override the default.
 The values can be decimal numbers (e.g., 0.1000) or fractional numbers (e.g.,
 1/16), optionally followed by a unit (cm, mm, um, inch, in or mil).
 If a unit is not specified the machine unit is assumed.
 Metric and imperial distances may be mixed: INCREMENTS = 1 inch, 1 mil,
 1 cm, 1 mm, 1 um is a valid entry.
\layout Description

OPEN_FILE\SpecialChar ~
=\SpecialChar ~
/full/path/to/file.ngc The file to show in the preview plot when
 AXIS starts
\layout Description

EDITOR\SpecialChar ~
=\SpecialChar ~
gedit The editor to use when selecting File > Edit or File Edit Tool
 Table from the AXIS menu.
 This must be configured for these menu items to work.
 Another valid entry is gnome-terminal -e vim.
\layout Subsection

[FILTER] Section 
\begin_inset LatexCommand \label{sub:[FILTER]-Section}

\end_inset 


\begin_inset LatexCommand \index{INI [FILTER] Section}

\end_inset 


\layout Standard

AXIS has the ability to send loaded files through a filter program.
 This filter can do any desired task: Something as simple as making sure
 the file ends with M2, or something as complicated as detecting whether
 the input is a depth image, and generating g-code to mill the shape it
 defines.
 The [FILTER] section of the ini file controls how filters work.
 First, for each type of file, write a PROGRAM_EXTENSION line.
 Then, specify the program to execute for each type of file.
 This program is given the name of the input file as its first argument,
 and must write rs274ngc code to standard output.
 This output is what will be displayed in the text area, previewed in the
 display area, and executed by emc when Run.
 The following lines add support for the image-to-gcode converter included
 with emc2:
\layout LyX-Code

PROGRAM_EXTENSION = .png,.gif Greyscale Depth Image
\layout LyX-Code

png = image-to-gcode
\layout LyX-Code

gif = image-to-gcode
\layout Standard

It is also possible to specify an interpreter:
\layout LyX-Code

PROGRAM_EXTENSION = .py Python Script
\layout LyX-Code

py = python
\layout Standard

In this way, any Python script can be opened, and its output is treated
 as g-code.
 One such example script is available at nc_files/holecircle.py.
 This script creates g-code for drilling a series of holes along the circumferen
ce of a circle.
 Many other g-code generators are on the EMC Wiki site 
\begin_inset LatexCommand \url{http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl}

\end_inset 

.
\layout Standard

If the environment variable AXIS_PROGRESS_BAR is set, then lines written
 to stderr of the form
\layout Standard


\family typewriter 
\series bold 
FILTER_PROGRESS=%d
\layout Standard

Sets the AXIS progress bar to the given percentage.
 This feature should be used by any filter that runs for a long time.
\layout Subsection

[RS274NGC] Section 
\begin_inset LatexCommand \label{sub:[RS274NGC]-Section}

\end_inset 


\begin_inset LatexCommand \index{INI [RS274NGC] Section}

\end_inset 


\layout Description

PARAMETER_FILE\SpecialChar ~
=\SpecialChar ~
file.var The file which contains the parameters used by the
 interpreter (saved between runs).
 
\layout Description


\color black
RS274NGC_STARTUP_CODE
\begin_inset LatexCommand \index{RS274NGC STARTUP CODE}

\end_inset 

\SpecialChar ~
=\SpecialChar ~
G21\SpecialChar ~
G90 A string of NC codes that the interpreter is initialized with.
 This is not a substitute for specifying modal g-codes at the top of each
 ngc file, because the modal codes of machines differ, and may be changed
 by g-code interpreted earlier in the session.
\layout Subsection

[EMCMOT] Section
\color black
 
\begin_inset LatexCommand \label{sub:[EMCMOT]-Section}

\end_inset 


\begin_inset LatexCommand \index{ini [EMCMOT] Section}

\end_inset 


\layout Description

BASE_PERIOD
\begin_inset LatexCommand \index{BASE PERIOD}

\end_inset 

\SpecialChar ~
=\SpecialChar ~
50000 
\series bold 
\noun on 
(hal)
\series default 
\noun default 
 
\begin_inset Quotes eld
\end_inset 

Base
\begin_inset Quotes erd
\end_inset 

 task period, in nanoseconds - this is the fastest thread in the machine.
\newline 
On servo-based systems, there is generally no reason for 
\series bold 
BASE_PERIOD
\series default 
 to be smaller than 
\series bold 
SERVO_PERIOD
\series default 
.
 
\newline 
On machines with software step generation, the 
\series bold 
BASE_PERIOD
\series default 
 determines the maximum number of steps per second.
 In the absence of long step length and step space requirements, the absolute
 maximum step rate is one step per 
\series bold 
BASE_PERIOD
\series default 
.
 Thus, the 
\series bold 
BASE_PERIOD
\series default 
 shown above gives an absolute maximum step rate of 20000 steps per second.
 50000ns is a fairly conservative value.
 The smallest usable value is related to the Latency Test result , the necessary
 step length, and the processor speed.
\newline 
Choosing a BASE_PERIOD that is too low can lead to the 
\begin_inset Quotes eld
\end_inset 

Unexpected real time delay
\begin_inset Quotes erd
\end_inset 

 message, lockups, or spontaneous reboots.
 
\layout Description

SERVO_PERIOD
\begin_inset LatexCommand \index{SERVO PERIOD}

\end_inset 

\SpecialChar ~
=\SpecialChar ~
1000000 
\series bold 
\noun on 
(hal)
\series default 
\noun default 
 
\begin_inset Quotes eld
\end_inset 

Servo
\begin_inset Quotes erd
\end_inset 

 task period is also in nanoseconds.
 This value will be rounded to an integer multiple of 
\series bold 
BASE_PERIOD
\series default 
.
 This value is used even on systems based on stepper motors.
\newline 
This is the rate at which new motor positions are computed, following error
 is checked, PID output values are updated, and so on.
\newline 
Most systems will not need to change this value.
 It is the update rate of the low level motion planner.
\layout Description

TRAJ_PERIOD
\begin_inset LatexCommand \index{TRAJ PERIOD}

\end_inset 

\SpecialChar ~
=\SpecialChar ~

\series bold 
1000000 
\noun on 
(hal)
\series default 
\noun default 
 
\series bold 
Traj
\series default 
ectory Planner task period in nanoseconds This value will be rounded to
 an integer multiple of 
\series bold 
SERVO_PERIOD
\series default 
.
\newline 
Except for machines with unusual kinematics (e.g., hexapods) there is no reason
 to make this value larger than 
\series bold 
SERVO_PERIOD
\series default 
.
\layout Subsection

[TASK] Section
\begin_inset LatexCommand \label{sub:[TASK]-Section}

\end_inset 


\begin_inset LatexCommand \index{ini [TASK] Section}

\end_inset 


\layout Description

CYCLE_TIME\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
0.0
\series default 
01 The period, in seconds, at which EMCTASK will run.
 This parameter affects the polling interval when waiting for motion to
 complete, when executing a pause instruction, and when accepting a command
 from a user interface.
 There is usually no need to change this number.
\layout Subsection

[HAL] section
\begin_inset LatexCommand \label{sub:[HAL]-section}

\end_inset 


\begin_inset LatexCommand \index{HAL (inifile section)}

\end_inset 


\layout Description

HALFILE\SpecialChar ~
=\SpecialChar ~
example.hal Execute the file 'example.hal' at start up.
 If 
\series bold 
HALFILE
\series default 
 is specified multiple times, the files are executed in the order they appear
 in the ini file.
 Almost all configurations will have at least one 
\series bold 
HALFILE
\series default 
, and stepper systems typically have two such files, one which specifies
 the generic stepper configuration (
\family typewriter 
core_stepper.hal
\family default 
) and one which specifies the machine pin out (
\family typewriter 
xxx_pinout.hal
\family default 
)
\layout Description

HAL\SpecialChar ~
=\SpecialChar ~
command
\emph on 
 
\emph default 
Execute 'command' as a single hal command.
 If 
\series bold 
HAL
\series default 
 is specified multiple times, the commands are executed in the order they
 appear in the ini file.
 
\series bold 
HAL
\series default 
 lines are executed after all 
\series bold 
HALFILE
\series default 
 lines.
\layout Description

SHUTDOWN\SpecialChar ~
=\SpecialChar ~
shutdown.hal Execute the file 'shutdown.hal' when EMC is exiting.
 Depending on the hardware drivers used, this may make it possible to set
 outputs to defined values when EMC is exited normally.
 However, because there is no guarantee this file will be executed (for
 instance, in the case of a computer crash) it is not a replacement for
 a proper physical e-stop chain or other protections against software failure.
\layout Description

POSTGUI_HALFILE\SpecialChar ~
=\SpecialChar ~
example2.hal 
\emph on 
(Only with the AXIS GUI)
\emph default 
 Execute 'example2.hal' after the GUI has created its HAL pins.
 See section 
\begin_inset LatexCommand \ref{cha:Virtual-Control-Panels}

\end_inset 

 for more information.
\layout Subsection

[TRAJ] Section
\color black
 
\begin_inset LatexCommand \label{sub:[TRAJ]-Section}

\end_inset 


\begin_inset LatexCommand \index{TRAJ (inifile section)}

\end_inset 


\layout Standard


\color black
The [TRAJ] section contains general parameters for the trajectory planning
 module in EMCMOT.
\layout Description


\color black
COORDINATES\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
X
\series default 
\SpecialChar ~
Y
\series bold 
\SpecialChar ~
Z
\series default 
 The names of the axes being controlled.
 X, Y, Z, A, B, C, U, V, and W are all valid.
 Only axis named in 
\series bold 
COORDINATES
\series default 
 are accepted in g-code.
 This has no effect on the mapping from G-code axis names (X- Y- Z-) to
 joint numbers--for 
\begin_inset Quotes eld
\end_inset 

trivial kinematics
\begin_inset Quotes erd
\end_inset 

, X is always joint 0, A is always joint 4, and U is always joint 7, and
 so on.
 It is permitted to write an axis name twice (e.g., X Y Y Z for a gantry machine)
 but this has no effect.
\layout Description


\noun on 
\color black
AXES\SpecialChar ~
=\SpecialChar ~
3
\noun default 
 One more than the number of the highest joint number in the system.
 For an XYZ machine, the joints are numbered 0, 1 and 2; in this case AXES
 should be 3.
 For an XYUV machine using 
\begin_inset Quotes eld
\end_inset 

trivial kinematics
\begin_inset Quotes erd
\end_inset 

, the V joint is numbered 7 and therefore AXES should be 8.
 For a machine with nontrivial kinematics (e.g., scarakins) this will generally
 be the number of controlled joints.
\layout Description


\color black
HOME\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
0
\series default 
\SpecialChar ~

\series bold 
0
\series default 
\SpecialChar ~

\series bold 
0 
\series default 
Coordinates of the homed position of each axis.
 Again for a fourth axis you will need 0 0 0 0.
 This value is only used for machines with nontrivial kinematics.
 On machines with trivial kinematics this value is ignored.
\layout Description


\color black
LINEAR_UNITS
\begin_inset LatexCommand \index{LINEAR UNITS}

\end_inset 

\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~
<units>
\series bold 
 
\series default 
Specifies the machine units for linear axes.
 Possible choices are (in, inch, imperial, metric, mm).
 
\newline 
This does not affect the linear units in NC code (the G20 and G21 words
 do this).
 
\layout Description


\color black
ANGULAR_UNITS
\begin_inset LatexCommand \index{ANGULAR UNITS}

\end_inset 

\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~
<units> Specifies the machine units for rotational axes.
 Possible choices are 'deg', 'degree' (360 per circle), 'rad', 'radian'
 (2pi per circle), 'grad', or 'gon' (400 per circle).
\newline 
This does not affect the angular units of NC code.
 In RS274NGC, A-, B- and C- words are always expressed in degrees.
\layout Description


\color black
DEFAULT_VELOCITY\SpecialChar ~

\series bold 
=\SpecialChar ~
0.0167
\series default 
 The initial rate for jogs of linear axes, in machine units per second.
 The value shown equals one unit per minute.
\layout Description


\color black
DEFAULT_ACCELERATION\SpecialChar ~