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# This config file was created 2016-08-12 11:49:56.526085 by the update_ini script
# The original config files may be found in the /home/pcw/linuxcnc/configs/7i76es1.old directory
[EMC]
# The version string for this INI file.
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE = Reaktor-Mill
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0x0
[DISPLAY]
# Name of display program, e.g., tkemc
#DISPLAY = tkemc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# Path to help file
HELP_FILE = tkemc.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 2.0
# Prefix to be used
PROGRAM_PREFIX = /home/miller/GCODE/
# Introductory graphic
INTRO_GRAPHIC = reaktorcnc.png
INTRO_TIME = 5
# Volocity in units per second, 60 * 60 = 3600mm/min
MAX_LINEAR_VELOCITY = 60
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = hm2-stepper.var
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
[TASK]
# Name of task controller program, e.g., milltask
TASK = milltask
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010
[HAL]
# Important to load halui before hm2-pidstepper to be able to use gui signals
# like e-stop in the later .hal files
HALUI = halui
# 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 = hm2-pidstepper.hal
# Spindle HAL File to control our Huanyang spindle via USB / RS485
HALFILE = spindle.hal
HALFILE = handwheel/handwheel.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
POSTGUI_HALFILE = custom_postgui.hal
[HALUI]
#No Content
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.001
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = tool.tbl
[KINS]
KINEMATICS = trivkins
#This is a best-guess at the number of joints, it should be checked
JOINTS = 3
# =============================================================================
# ACHSE X
# =============================================================================
[AXIS_X]
MIN_LIMIT = -1.0
MAX_LIMIT = 400.0
MAX_VELOCITY = 4000
MAX_ACCELERATION = 500
[JOINT_0]
#
# Step timing is 1 us steplen + 1 us stepspace
# That gives 2 us step period = 500 KHz max step freq
#
#
# Scale is 2000 steps/rev * 5 revs/inch = 10000 steps/inch
#
# This gives a maxvel of 25/1 = 50 ips
#
TYPE = LINEAR
MAX_VELOCITY = 4000
MAX_ACCELERATION = 500
MAX_JERK = 500
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 4800
STEPGEN_MAX_ACC = 4800
BACKLASH = 0.000
# scale is 2000 steps/rev * 5 revs/inch
# scal is 50000 * 0.2 rev/mm for us
SCALE = -5300
MIN_LIMIT = -1.0
MAX_LIMIT = 400.0
FERROR = .0006
MIN_FERROR = .0003
HOME = 0.0
HOME_OFFSET = -15.0
HOME_SEARCH_VEL = -20.0
HOME_FINAL_VEL = 10.0
HOME_LATCH_VEL = -1.0
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 8000
STEPLEN = 1500
STEPSPACE = 1500
# PID tuning params
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0005
# =============================================================================
# ACHSE Y
# =============================================================================
[AXIS_Y]
MIN_LIMIT = -700.0
MAX_LIMIT = 1.0
MAX_VELOCITY = 4000
MAX_ACCELERATION = 200
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 4000
MAX_ACCELERATION = 200
MAX_JERK = 200
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 4800
STEPGEN_MAX_ACC = 4800
BACKLASH = 0.000
SCALE = -5300
MIN_LIMIT = -700.0
MAX_LIMIT = 1.0
FERROR = .0006
MIN_FERROR = .0003
HOME = 0.0
HOME_OFFSET = 15.0
HOME_FINAL_VEL = -10.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 8000
STEPLEN = 1500
STEPSPACE = 1500
# PID tuning params
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0005
# =============================================================================
# ACHSE Z
# =============================================================================
[AXIS_Z]
MIN_LIMIT = -185
MAX_LIMIT = 1.0
MAX_VELOCITY = 50
MAX_ACCELERATION = 300
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 50
MAX_ACCELERATION = 300
MAX_JERK = 400
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 360
STEPGEN_MAX_ACC = 480
BACKLASH = 0.000
SCALE = -5300
MIN_LIMIT = -185
MAX_LIMIT = 1.0
FERROR = .0006
MIN_FERROR = .0003
HOME = 0.0
HOME_OFFSET = 5.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 1.0
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 5000
DIRHOLD = 8000
STEPLEN = 1500
STEPSPACE = 1500
# PID tuning params
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0005
# =============================================================================
# HOSTMOT2
# =============================================================================
[HOSTMOT2]
DRIVER = hm2_eth board_ip="192.168.1.121"
# DRIVER=hm2_eth board_ip="10.10.10.10" debug=1
BOARD = 7i96
CONFIG = "num_encoders=1 num_stepgens=5 sserial_port_0=1"
# =============================================================================
# Spindle
# =============================================================================
[SPINDLE_9]
# PID tuning params
DEADBAND = 0
P = 50
I = 200
D = .2
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 50
SCALE = 6000
MINLIM = 0
MAXLIM = 6000