Wabeco-D6000.ini

# Generated by PNCconf at Sat May  8 21:41:42 2021
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = Wabeco-D6000
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 1mm .1mm .01mm .001mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 10.0
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.500000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xz

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

# parameters exposed by change_prolog/evaluated by change_epilog:
#    #<tool_in_spindle>
#    #<selected_tool>
#    #<current_pocket>
#    #<selected_pocket>
REMAP= M6  modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 65000
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0

[HAL]
HALUI = halui
HALFILE = Wabeco-D6000.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND = M61 Q2
MDI_COMMAND = G43 H2
MDI_COMMAND = G28 G91 X0.


[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ

[TRAJ]
COORDINATES =  XZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 45.00
DEFAULT_LINEAR_VELOCITY = 35.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1

#******************************************
[AXIS_X]
MAX_VELOCITY = 36.5
MAX_ACCELERATION = 200.0
MIN_LIMIT = -280.0
MAX_LIMIT = 0.01

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.0
MIN_FERROR = 0.1
MAX_VELOCITY = 36.5
MAX_ACCELERATION = 200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 44.0
STEPGEN_MAXACCEL = 250.0
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 2500
DIRHOLD    = 2500
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 800.0
MIN_LIMIT = -280.0
MAX_LIMIT = 0.01
HOME_OFFSET = 1.000000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 0.5000
HOME_FINAL_VEL = 15.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 36.5
MAX_ACCELERATION = 200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.0
MIN_FERROR = 0.1
MAX_VELOCITY = 36.5
MAX_ACCELERATION = 200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 44.0
STEPGEN_MAXACCEL = 250.0
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 2500
DIRHOLD    = 2500
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 800.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -10.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_A]
MAX_VELOCITY = 30   .0
MAX_ACCELERATION = 100.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0

[JOINT_2]
TYPE = ANGULAR
HOME = -16.0
FERROR = 1.0
MIN_FERROR = 0.1
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 100.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 37.5
STEPGEN_MAXACCEL = 125.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 2500
DIRHOLD    = 2500
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -222.22222
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 16.666667
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 2.000000
HOME_USE_INDEX = NO
#******************************************

[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 5000.0
OUTPUT_SCALE = 5000
OUTPUT_MIN_LIMIT = -5000
OUTPUT_MAX_LIMIT = 5000