Amigos como prometi aqui começo o tutorial
Bom vamos analizar o arquivo .hal:
#1 Configuração da Epica Automação
#2##############################################################################
#3 Seção Geral
#4##############################################################################
[EMC]
#5- Versão do arquivo INI
VERSION = $Revision: 1.3.2.5 $
#6 Nome da maquina, o que vai aparecer no display do programa.
MACHINE = EPICA
#7- Nome do arquivo NML
NML_FILE = emc.nml
# Level do Debug
# DEBUG = 0x00000000
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
DEBUG = 0
###############################################################################
#8 Seçãoo das opções do display
###############################################################################
[DISPLAY]
#9 Nome da interface do programa
DISPLAY = axis
# DISPLAY = usrmot
# DISPLAY = mini
# DISPLAY = mmm
#10 Tempo de ciclo, em segundos, that display will sleep between polls
CYCLE_TIME = 0.200
#11- Caminho do arquivo de ajuda
HELP_FILE = help/tkemc.txt
#12- Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
#13- Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
#14+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
#15- Prefix to be used
PROGRAM_PREFIX = /home/rafa/txt
#16- Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
###############################################################################
#17 Task controller section
###############################################################################
[TASK]
#- Name of task controller program, e.g., bridgeporttask
TASK = milltask
# TASK = minimilltask
#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.002
###############################################################################
#18 Part program interpreter section
###############################################################################
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = stepper.var
###############################################################################
#19 Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT = motmod
#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 111
#- 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 nanosecs - this is the fastest thread in the machine
BASE_PERIOD = 50000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD = 1000000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
###############################################################################
#20 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 = stepper_xyza.hal
#HALFILE = xylotex_pinout.hal
HALFILE = standard_pinout.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
###############################################################################
#21Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES = 4
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z A
HOME = 0 0 0 0
LINEAR_UNITS = 1.0
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100.0
MAX_VELOCITY = 100.0
DEFAULT_ACCELERATIO N = 100.0
MAX_ACCELERATION = 400.0
PROBE_INDEX = 0
PROBE_POLARITY = 1
###############################################################################
#22 Axes sections
###############################################################################
#+ First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.8
STEPGEN_MAXACCEL = 20.2
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 1000.0 0.0
OUTPUT_SCALE = 10.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 10
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#+ Second axis
[AXIS_1]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.8
STEPGEN_MAXACCEL = 20.2
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 1000.0 0.0
OUTPUT_SCALE = 10.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#+ Third axis
[AXIS_2]
TYPE = LINEAR
UNITS = 1.0
HOME = 0.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.8
STEPGEN_MAXACCEL = 20.2
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 1000.0 0.0
OUTPUT_SCALE = 10.000 0.000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 10.0
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#+ Third axis
[AXIS_3]
TYPE = ANGULAR
UNITS = 1.0
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 360.0
STEPGEN_MAXVEL = 99.0
STEPGEN_MAXACCEL = 396.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 10.0 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -36000.0
MAX_LIMIT = 36000.0
FERROR = 5.0
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
###############################################################################
#24 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 = stepper.tbl
###############################################################################
# section for external NML server parameters
###############################################################################
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr
