qtdragon_hd_vert: add a 5 axis config to test with

Author: c-morley

configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical_xyza.ini

@@ -0,0 +1,262 @@
+# This file was created with the 7i96 Wizard on Jun 10 2019 11:12:47
+# Changes to most things are ok and will be read by the wizard
+
+[EMC]
+VERSION = 1.1
+MACHINE = qtdragon
+DEBUG = 0x00000000
+
+[DISPLAY]
+# sets qtdragon_hd as screen. for debug output to terminal add -d or -v
+# sets window title
+# sets icon in task manager
+DISPLAY = qtvcp qtdragon_hd_vert
+TITLE = QtDragon HD: XYZA Rotational Axis
+ICON = silver_dragon.png
+
+# qtdragon saves most preference to this file
+PREFERENCE_FILE_PATH = WORKINGFOLDER/qtdragon_hd.pref
+
+# min/max percentage overrides allowed in qtdragon 1 = 100%
+MAX_FEED_OVERRIDE       = 1.2
+MIN_SPINDLE_0_OVERRIDE    = 0.5
+MAX_SPINDLE_0_OVERRIDE    = 1.2
+
+# manual spindle speed will start at this RPM
+DEFAULT_SPINDLE_0_SPEED   = 12000
+
+# spindle up/down increment in RPM
+SPINDLE_INCREMENT = 200
+
+# min max apindle speed manually allowed 
+MIN_SPINDLE_0_SPEED = 1000
+MAX_SPINDLE_0_SPEED = 20000
+
+# max spindle power in Watts
+MAX_SPINDLE_POWER = 2000
+
+# min/max/default jog velocities in qtdragon in units/sec
+MIN_LINEAR_VELOCITY     = 0
+MAX_LINEAR_VELOCITY     = 60.00
+DEFAULT_LINEAR_VELOCITY = 25.0
+
+DEFAULT_ANGULAR_VELOCITY = 10
+MIN_ANGULAR_VELOCITY = 1
+MAX_ANGULAR_VELOCITY = 360
+
+# incremental jog step length options
+INCREMENTS = 10 mm, 1.0 mm, 0.10 mm, 0.01 mm, 1.0 inch, 0.1 inch, 0.01 inch
+
+# Display grid increments
+GRIDS = 0, .1 mm, 1 mm, 2 mm, 5 mm, 10 mm, .25 in, .5 in
+
+CYCLE_TIME = 100
+INTRO_GRAPHIC = silver_dragon.png
+INTRO_TIME = 2
+
+# default program search path
+PROGRAM_PREFIX = ~/linuxcnc/nc_files
+
+# NGCGUI subroutine path.
+# Thr path must also  be in [RS274NGC] SUBROUTINE_PATH
+NGCGUI_SUBFILE_PATH = ../../../nc_files/ngcgui_lib/
+# pre selected programs tabs
+# specify filenames only, files must be in the NGCGUI_SUBFILE_PATH
+NGCGUI_SUBFILE = slot.ngc
+NGCGUI_SUBFILE = qpocket.ngc
+
+# qtdragon saves MDI cxommands to this file
+MDI_HISTORY_FILE = mdi_history.dat
+# qtdragon saves rnning logs to this file
+LOG_FILE = qtdragon.log
+
+[MDI_COMMAND_LIST]
+# for macro buttons on main oage up to 10 possible
+MDI_COMMAND_MACRO0 = G0 Z25;X0 Y0;Z0, Goto\nUser\nZero
+MDI_COMMAND_MACRO1 = G53 G0 Z0;G53 G0 X0 Y0,Goto\nMachn\nZero
+
+[FILTER]
+# Controls what programs are shown inqtdragon file manager
+PROGRAM_EXTENSION = .ngc,.nc,.tap G-Code File (*.ngc,*.nc,*.tap)
+PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+
+# specifies what special 'filter' programs runs based on program ending
+png = image-to-gcode
+gif = image-to-gcode
+jpg = image-to-gcode
+py = python3
+
+[KINS]
+KINEMATICS = trivkins coordinates=XYZA
+JOINTS = 4
+
+[EMCIO]
+TOOL_TABLE = tool.tbl
+
+[RS274NGC]
+# motion controller saves parameters to this file
+PARAMETER_FILE = qtdragon.var
+
+# start up G/M codes when first loaded
+RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.0127 G80 G90 G94 G97 M5 M9
+
+# subroutine/remap path list
+SUBROUTINE_PATH = ../../../../nc_files/probe/basic_probe/macros:~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs
+
+# on abort, this ngc file is called. required for basic/versa probe
+ON_ABORT_COMMAND=O <on_abort> call
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+COMM_TIMEOUT = 1.0
+COMM_WAIT = 0.010
+BASE_PERIOD = 100000
+#NUM_AIO = 12
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[TRAJ]
+COORDINATES = XYZA
+LINEAR_UNITS = metric
+ANGULAR_UNITS = degree
+MAX_LINEAR_VELOCITY = 60.00
+DEFAULT_LINEAR_VELOCITY = 50.00
+SPINDLES = 1
+
+[HAL]
+HALUI = halui
+# loads the HAL machine simulation
+HALFILE = gantrysim.hal
+HALFILE = simulated-gantry-home.hal
+
+# this file is loaded after qtdragon has made it's HAl pins
+# you can add multiple entries
+POSTGUI_HALFILE = qtdragon_hd_postgui.hal
+
+# this command is run after qtdragon has made it's HAl pins
+# any HAL conmmand can be used
+# you can add multiple entries
+# uncomment this one to print all HAL pins that start with qt
+#POSTGUI_HALCMD = show pin qt
+# uncomment to simulate probing
+#POSTGUI_HALCMD = loadusr qtvcp test_probe
+
+[HALUI]
+# no content
+
+[PROBE]
+# pick basic probe or versa probe or remove for none
+#USE_PROBE = versaprobe
+USE_PROBE = basicprobe
+
+[AXIS_X]
+MIN_LIMIT = -0.001
+MAX_LIMIT = 520.0
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 500.0
+
+[AXIS_Y]
+MIN_LIMIT = -0.001
+MAX_LIMIT = 630.0
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 500.0
+
+[AXIS_Z]
+# used by external offsets for auto spindle lift and auto leveling
+OFFSET_AV_RATIO  = 0.2
+MIN_LIMIT = -115.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 40.0
+MAX_ACCELERATION = 500.0
+
+[AXIS_A]
+MAX_VELOCITY = 60
+MAX_ACCELERATION = 500.0
+
+[JOINT_0]
+AXIS = X
+MIN_LIMIT = -0.001
+MAX_LIMIT = 520.0
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 500.0
+TYPE = LINEAR
+SCALE = 160.0
+STEPGEN_MAX_VEL = 72.0
+STEPGEN_MAX_ACC = 600.0
+FERROR = 1.0
+MIN_FERROR = 0.5
+MAX_OUTPUT = 0
+MAX_ERROR = 0.0127
+HOME = 20.0
+HOME_OFFSET = -0.1
+HOME_SEARCH_VEL = -20.000000
+HOME_LATCH_VEL = 10.000
+HOME_SEQUENCE = 2
+HOME_USE_INDEX = False
+HOME_IGNORE_LIMITS = False
+HOME_IS_SHARED = 1
+
+[JOINT_1]
+AXIS = Y
+MIN_LIMIT = -0.001
+MAX_LIMIT = 630.0
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 500.0
+TYPE = LINEAR
+SCALE = 160.0
+STEPGEN_MAX_VEL = 72.0
+STEPGEN_MAX_ACC = 600.0
+FERROR = 1.0
+MIN_FERROR = 0.5
+MAX_OUTPUT = 0
+MAX_ERROR = 0.0127
+HOME = 20.0
+HOME_OFFSET = -0.1
+HOME_SEARCH_VEL = -20.00
+HOME_LATCH_VEL = 10.00
+HOME_SEQUENCE = -1
+HOME_USE_INDEX = False
+HOME_IGNORE_LIMITS = False
+
+[JOINT_2]
+AXIS = Z
+MIN_LIMIT = -115.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 40.0
+MAX_ACCELERATION = 500.0
+TYPE = LINEAR
+SCALE = 160.0
+STEPGEN_MAX_VEL = 48.0
+STEPGEN_MAX_ACC = 600.0
+FERROR = 1.0
+MIN_FERROR = 0.5
+MAX_OUTPUT = 0
+MAX_ERROR = 0.0127
+HOME = -10.0
+HOME_OFFSET = 0.1
+HOME_SEARCH_VEL = 20.000000
+HOME_LATCH_VEL = 10.00
+HOME_SEQUENCE = 0
+HOME_USE_INDEX = False
+HOME_IGNORE_LIMITS = False
+HOME_IS_SHARED = 1
+
+[JOINT_3]
+TYPE = ANGULAR
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 500.0
+INPUT_SCALE = 40
+OUTPUT_SCALE = 1.0
+FERROR = 5.0
+MIN_FERROR = 1.0
+HOME = 0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+HOME_USE_INDEX = False
+HOME_IGNORE_LIMITS = False
+