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  1. part of the .ini file, below that is a piece of the servo.hal file
  2. and at the bottom - linuxcnc_print file
  3. ##################################################################
  4. [KINS]
  5. KINEMATICS = trivkins
  6. JOINTS = 6
  7.  
  8. ########## X ###########
  9. [AXIS_X]
  10. MIN_LIMIT = -3.0
  11. MAX_LIMIT = 10.0
  12. MAX_VELOCITY = 1.0
  13. MAX_ACCELERATION = 4.0
  14.  
  15. [JOINT_0]
  16. TYPE = LINEAR
  17. MAX_VELOCITY = 1.0
  18. MAX_ACCELERATION = 4.0
  19. BACKLASH = 0.000
  20. FERROR = 01.0
  21. MIN_FERROR = 0.2
  22. INPUT_SCALE = 2000
  23. OUTPUT_SCALE = 0.90
  24. OUTPUT_OFFSET = 0.0
  25. MAX_OUTPUT = .90
  26. MIN_LIMIT = -3.0
  27. MAX_LIMIT = 10.0
  28. HOME = 0.000
  29. HOME_OFFSET = -1.0
  30. HOME_SEARCH_VEL = -0.50
  31. HOME_LATCH_VEL = 0.10
  32. HOME_USE_INDEX = NO
  33. HOME_IGNORE_LIMITS = YES
  34. HOME_SEQUENCE = 1
  35.  
  36. # PID tuning params
  37. DEADBAND = 0.000015
  38. P = 10.0
  39. I = 0.000
  40. D = 0.000
  41. FF0 = 0.000
  42. FF1 = .000
  43. FF2 = 0.0
  44. BIAS = 0.000
  45.  
  46. ########## Y ###########
  47. [AXIS_Y]
  48. MIN_LIMIT = -3.0
  49. MAX_LIMIT = 10.0
  50. MAX_VELOCITY = 1.0
  51. MAX_ACCELERATION = 4.0
  52.  
  53. [JOINT_1]
  54. TYPE = LINEAR
  55. MAX_VELOCITY = 1.0
  56. MAX_ACCELERATION = 4.0
  57. BACKLASH = 0.000
  58. FERROR = 01.010
  59. MIN_FERROR = 0.5002
  60. INPUT_SCALE = 2000
  61. OUTPUT_SCALE = 1.000
  62. OUTPUT_OFFSET = 0.0
  63. MAX_OUTPUT = 0.90
  64. MIN_LIMIT = -3.0
  65. MAX_LIMIT = 10.0
  66. HOME = 0.000
  67. HOME_OFFSET = -2.9
  68. HOME_SEARCH_VEL = -0.50
  69. HOME_LATCH_VEL = 0.10
  70. HOME_USE_INDEX = NO
  71. HOME_IGNORE_LIMITS = YES
  72. HOME_SEQUENCE = 2
  73. # PID tuning params
  74. DEADBAND = 0.000015
  75. P = 10.0
  76. I = 0.000
  77. D = 0.000
  78. FF0 = 0.000
  79. FF1 = 0.000
  80. FF2 = 0.0
  81. BIAS = 0.000
  82.  
  83. ########## Z ###########
  84. [AXIS_Z]
  85. MIN_LIMIT = -3.0
  86. MAX_LIMIT = 3.0
  87. MAX_VELOCITY = 1.0
  88. MAX_ACCELERATION = 4.0
  89.  
  90. [JOINT_2]
  91. TYPE = LINEAR
  92. MAX_VELOCITY = 1.0
  93. MAX_ACCELERATION = 4.0
  94. BACKLASH = 0.000
  95. FERROR = 01.0
  96. MIN_FERROR = 0.2
  97. INPUT_SCALE = 2000
  98. OUTPUT_SCALE = 1.000
  99. OUTPUT_OFFSET = 0.0
  100. MAX_OUTPUT = 1.0
  101. MIN_LIMIT = -3.0
  102. MAX_LIMIT = 3.0
  103. HOME = 0.0
  104. HOME_OFFSET = -2.9
  105. HOME_SEARCH_VEL = -0.50
  106. HOME_LATCH_VEL = 0.10
  107. HOME_USE_INDEX = NO
  108. HOME_IGNORE_LIMITS = YES
  109. HOME_SEQUENCE = 3
  110. # PID tuning params
  111. DEADBAND = 0.000015
  112. P = 10.0
  113. I = 0.000
  114. D = 0.000
  115. FF0 = 0.000
  116. FF1 = 0.000
  117. FF2 = 0.0
  118. BIAS = 0.000
  119.  
  120. ########## A ###########
  121. [AXIS_A]
  122. MIN_LIMIT = -3.0
  123. MAX_LIMIT = 3.0
  124. MAX_VELOCITY = 1.0
  125. MAX_ACCELERATION = 4.0
  126.  
  127. [JOINT_3]
  128. TYPE = LINEAR
  129. MAX_VELOCITY = 1.0
  130. MAX_ACCELERATION = 4.0
  131. BACKLASH = 0.000
  132. FERROR = 01.0
  133. MIN_FERROR = 0.2
  134. INPUT_SCALE = 2000
  135. OUTPUT_SCALE = 1.000
  136. OUTPUT_OFFSET = 0.0
  137. MAX_OUTPUT = 1.0
  138. MIN_LIMIT = -3.0
  139. MAX_LIMIT = 3.0
  140. HOME = 0.0
  141. HOME_OFFSET = -2.9
  142. HOME_SEARCH_VEL = -0.50
  143. HOME_LATCH_VEL = 0.10
  144. HOME_USE_INDEX = NO
  145. HOME_IGNORE_LIMITS = YES
  146. HOME_SEQUENCE = 4
  147. # PID tuning params
  148. DEADBAND = 0.000015
  149. P = 10.0
  150. I = 0.000
  151. D = 0.000
  152. FF0 = 0.000
  153. FF1 = 0.000
  154. FF2 = 0.0
  155. BIAS = 0.000
  156.  
  157. ########## B ###########
  158. [AXIS_B]
  159. MIN_LIMIT = -3.0
  160. MAX_LIMIT = 3.0
  161. MAX_VELOCITY = 1.0
  162. MAX_ACCELERATION = 4.0
  163.  
  164. [JOINT_4]
  165. TYPE = LINEAR
  166. MAX_VELOCITY = 1.0
  167. MAX_ACCELERATION = 4.0
  168. BACKLASH = 0.000
  169. FERROR = 01.0
  170. MIN_FERROR = 0.2
  171. INPUT_SCALE = 2000
  172. OUTPUT_SCALE = 1.000
  173. OUTPUT_OFFSET = 0.0
  174. MAX_OUTPUT = 1.0
  175. MIN_LIMIT = -3.0
  176. MAX_LIMIT = 3.0
  177. HOME = 0.0
  178. HOME_OFFSET = -2.9
  179. HOME_SEARCH_VEL = -0.50
  180. HOME_LATCH_VEL = 0.10
  181. HOME_USE_INDEX = NO
  182. HOME_IGNORE_LIMITS = YES
  183. HOME_SEQUENCE = 5
  184. # PID tuning params
  185. DEADBAND = 0.000015
  186. P = 10.0
  187. I = 0.000
  188. D = 0.000
  189. FF0 = 0.000
  190. FF1 = 0.000
  191. FF2 = 0.0
  192. BIAS = 0.000
  193.  
  194. ########## C ###########
  195. [AXIS_C]
  196. MIN_LIMIT = -3.0
  197. MAX_LIMIT = 3.0
  198. MAX_VELOCITY = 1.0
  199. MAX_ACCELERATION = 4.0
  200.  
  201. [JOINT_5]
  202. TYPE = LINEAR
  203. MAX_VELOCITY = 1.0
  204. MAX_ACCELERATION = 4.0
  205. BACKLASH = 0.000
  206. FERROR = 01.0
  207. MIN_FERROR = 0.2
  208. INPUT_SCALE = 2000
  209. OUTPUT_SCALE = 1.000
  210. OUTPUT_OFFSET = 0.0
  211. MAX_OUTPUT = 1.0
  212. MIN_LIMIT = -3.0
  213. MAX_LIMIT = 3.0
  214. HOME = 0.0
  215. HOME_OFFSET = -2.9
  216. HOME_SEARCH_VEL = -0.50
  217. HOME_LATCH_VEL = 0.10
  218. HOME_USE_INDEX = NO
  219. HOME_IGNORE_LIMITS = YES
  220. HOME_SEQUENCE = 6
  221. # PID tuning params
  222. DEADBAND = 0.000015
  223. P = 10.0
  224. I = 0.000
  225. D = 0.000
  226. FF0 = 0.000
  227. FF1 = 0.000
  228. FF2 = 0.0
  229. BIAS = 0.000
  230.  
  231. ##################################################################
  232. ##################################################################
  233.  
  234. # ###################################
  235. # Core EMC/HAL Loads
  236. # ###################################
  237. loadrt trivkins
  238.  
  239. loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  240. loadrt pid num_chan=[TRAJ]AXES
  241. loadrt hostmot2
  242.  
  243. # load low-level driver
  244. loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
  245.  
  246. ##################################################################
  247. ##################################################################
  248.  
  249. RUN_IN_PLACE=yes
  250. LINUXCNC_DIR=
  251. LINUXCNC_BIN_DIR=/home/noel/linuxcnc-dev/bin
  252. LINUXCNC_TCL_DIR=/home/noel/linuxcnc-dev/tcl
  253. LINUXCNC_SCRIPT_DIR=
  254. LINUXCNC_RTLIB_DIR=/home/noel/linuxcnc-dev/rtlib
  255. LINUXCNC_CONFIG_DIR=
  256. LINUXCNC_LANG_DIR=/home/noel/linuxcnc-dev/src/objects
  257. INIVAR=inivar
  258. HALCMD=halcmd
  259. LINUXCNC_EMCSH=/usr/bin/wish8.5
  260. INIFILE=/home/noel/linuxcnc/configs/touchy-6/touchy-6-2.8.ini
  261. VERSION=1.0
  262. PARAMETER_FILE=touchy-servo-6.var
  263. TASK=milltask
  264. HALUI=halui
  265. DISPLAY=touchy
  266. COORDINATES=X Y Z A B C
  267. KINEMATICS=trivkins
  268. Starting LinuxCNC server program: linuxcncsvr
  269. Loading Real Time OS, RTAPI, and HAL_LIB modules
  270. Starting LinuxCNC IO program: io
  271. Starting HAL User Interface program: halui
  272. Starting TASK program: milltask
  273. DELAY=4
  274. Starting DISPLAY program: touchy
  275. Killing task linuxcncsvr, PID=8033
  276. Removing HAL_LIB, RTAPI, and Real Time OS modules
  277. Removing NML shared memory segments
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